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
CN108711166AActive Publication Date: 2018-10-26ZHEJIANG UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Applications(China)
Current Assignee / Owner
ZHEJIANG UNIV OF TECH
Publication Date
2018-10-26

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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).
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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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