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UAV optical tracking and positioning method based on ground-based fisheye camera array

A fisheye camera, tracking and positioning technology, applied in image data processing, instruments, calculations, etc., can solve the problem of low positioning accuracy

Inactive Publication Date: 2017-10-20
NORTHWESTERN POLYTECHNICAL UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the shortcomings of low positioning accuracy of existing UAV positioning methods, the present invention provides a UAV optical tracking and positioning method based on a ground-based fisheye camera array

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  • UAV optical tracking and positioning method based on ground-based fisheye camera array
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  • UAV optical tracking and positioning method based on ground-based fisheye camera array

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Embodiment Construction

[0043] The specific steps of the UAV optical tracking and positioning method based on the ground-based fisheye camera array of the present invention are as follows:

[0044] 1. Arbitrary arrangement of ground-based fisheye camera arrays.

[0045] The layout of the ground-based camera array is the basis of this method. Multiple groups of field experiments are carried out through 2-4 wide-angle fisheye cameras. There is a large overlapping field of view between the cameras.

[0046] 2. Self-calibration of ground-based camera arrays.

[0047] The fisheye camera lens is an ultra-wide lens with a large field of view, and its imaging relationship is shown in the following formula:

[0048] r = fθ (1)

[0049] Where f represents the focal length of the camera, θ represents the angle of the incident light, and r represents the projection of the light. where the projection function is:

[0050] θ d =θ(1+k 1 θ 2 +k 2 θ 4 +k 3 θ 6 +k 4 θ 8 ) (2)

[0051] Use the calibration ...

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Abstract

The invention discloses a UAV optical tracking and positioning method based on a ground-based fisheye camera array in order to solve a technical problem that a conventional UAV positioning method is low in positioning accuracy. The method comprises: firstly, arranging the ground-based fisheye camera array which performs collaborative detection on multiple air targets; using a detected result as an effective matching point between cameras; calculating a rotation matrix and a translation matrix between the cameras through a matching relation; and finally calculating the projection matrix of the cameras in combination with the internal parameters of the cameras. A ViBe algorithm is used for modeling a background and preprocessing data to extract a foreground motion target. A Hungarian algorithm is used for data association of inter-frame targets to track the multiple moving targets. A multi-view geometry mapping reconstruction method is used to solve the three-dimensional coordinates of a ground target and to optimize data through multi-camera collaborative observation. Due to the large field of view of the ground-based fisheye camera array, the positioning accuracy is improved.

Description

technical field [0001] The invention relates to a positioning method for a UAV, in particular to an optical tracking and positioning method for a UAV based on a ground-based fisheye camera array. Background technique [0002] In recent years, civilian drones have shown a rapid development trend, and have a large number of production applications in industrial and civil fields. It is of great significance to realize wide-area drone tracking and positioning in applications. The tracking and positioning task of UAVs is mainly to break through key technical issues such as real-time accurate detection, tracking and spatial positioning of UAVs flying into the wide area. [0003] The document "Autonomous Landing of an UAV with a Ground-Based Actuated Infrared Stereo Vision System, pp.2963-2970.IEEE, 2013" constructed a set of UAV landing guidance system based on ground-based infrared stereo camera. Place a large calibration board in the scene to complete the parameter calibration ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/292G06T7/254G06T7/246G06T5/30G06T5/00G06T7/80
CPCG06T5/30G06T7/248G06T7/254G06T7/292G06T7/80G06T2207/10016G06T5/70
Inventor 杨涛李治刘睿恺解博琳张艳宁
Owner NORTHWESTERN POLYTECHNICAL UNIV