A monocular camera scale estimating method based on a quadrotor unmanned aerial vehicle (UAV)

A quadrotor UAV, scale estimation technology, applied in the field of monocular vision, can solve the problem that the scale estimation of monocular camera cannot be effectively achieved

Active Publication Date: 2018-10-26
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0005] In order to overcome the inability of the existing quadrotor UAVs to effectively estimate the scale of the monocular camera, this invention proposes to equip the UAV with a high-definition camera and an inertial sensing unit. The UAV has a flexible viewing angle and can help people capture Some ground-moving cameras are difficult to capture images. If a lightweight camera is embedded on a small quadrotor drone, it can also provide rich and cheap information; while the inertial sensing unit can provide the speed and direction information of the drone’s flight

Method used

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  • A monocular camera scale estimating method based on a quadrotor unmanned aerial vehicle (UAV)
  • A monocular camera scale estimating method based on a quadrotor unmanned aerial vehicle (UAV)
  • A monocular camera scale estimating method based on a quadrotor unmanned aerial vehicle (UAV)

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Embodiment Construction

[0098] The present invention will be further described below in conjunction with accompanying drawing:

[0099] refer to Figure 1 ~ Figure 3 , a monocular camera scale estimation method based on a quadrotor UAV, including the following steps:

[0100]1) Obtain image and IMU parameter information, the process is as follows:

[0101] 1.1) Collect images

[0102] Generally speaking, there are many methods for collecting images. The present invention is based on the Linux development environment of the quadrotor aircraft platform, and uses the robot operating system ROS to subscribe to image topics to obtain images. The camera driver is realized by ROS and openCV; including: Timestamp, picture;

[0103] 1.2) Obtain IMU parameters

[0104] Same as the image acquisition method, the IMU acquisition is also based on the Linux development environment of the quadrotor aircraft platform, and the IMU parameters are obtained by using the robot operating system ROS to subscribe to the ...

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Abstract

The invention provides a monocular camera scale estimating method based on a quadrotor unmanned aerial vehicle (UAV). The method includes the following steps: 1): the image and the IMU parameter information are obtained; 2): the two dimension image characteristic points are extracted and characteristic matching is performed; 3): the external reference matrix of the camera is solved; 4): the IMU information is fused, and the scale of the monocular camera is estimated. The invention provides the monocular camera scale estimating method which is simple and low in computation burden aiming at themap construction problem of the quadrotor unmanned aerial vehicle (UAV), and the effective factor is provided for the map construction of the quadrotor unmanned aerial vehicle (UAV).

Description

technical field [0001] The invention relates to the field of monocular vision of quadrotor drones, in particular to a method for obtaining the scale of the monocular camera from the motion information of the monocular camera and inertial measurement unit (IMU) of the quadrotor drone. Background technique [0002] In recent years, with the rapid development of computer technology, automatic control theory, embedded development, chip design and sensor technology, UAVs can be miniaturized and have stronger processing capabilities. Related technologies on UAVs It has also received more and more attention; small UAVs have the advantages of flexible control and strong endurance, so they can handle complex tasks in a small environment, and can perform military strikes in the military, search in harsh environments, intelligence collection, etc. To replace the work of soldiers in high-risk environments; for civilian use, it provides aerial photography, remote equipment inspection, en...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/33G06T7/20G06T7/80G01C25/00
CPCG06T7/20G06T7/33G06T7/85G01C25/00
Inventor 陈朋任金金徐天宇王海霞刘义鹏
Owner ZHEJIANG UNIV OF TECH
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