Target positioning method and device and unmanned aerial vehicle

Abstract

The invention relates to a target positioning method and device and an unmanned aerial vehicle. The method comprises the steps of acquiring a target image through an image acquisition device; acquiring position information of the target in the target image according to the target image; obtaining an original point cloud of an environment in front of the unmanned aerial vehicle through a depth sensor; obtaining a point cloud corresponding to the target in the original point cloud according to the position information of the original point cloud and the target in the target image; and acquiringposition information of the target in a three-dimensional space according to the point cloud corresponding to the target. According to the invention, the depth information of the target is obtained bydetermining the position information of the three-dimensional space of the target; a motion estimation model with higher stability and precision can also be provided for target tracking, the probability of false recognition and tracking loss is reduced, more accurate visualization of three-dimensional path planning and real-time three-dimensional reconstruction can be achieved, and meanwhile a three-dimensional map with a target object can be used for obstacle avoidance.

Description

technical field [0001] The present invention relates to the technical field of visual tracking, and more specifically, relates to a target positioning method and device, and an unmanned aerial vehicle. Background technique [0002] Visual tracking algorithms are widely used in robots or drones. Most of the algorithms are based on two-dimensional images or videos to identify the position of the tracking target in the planar image. The 3D position of the tracking target cannot be intuitively predicted or perceived during tracking. Existing methods can estimate the 3D spatial position of the target by fixing the initial height of the target or assuming a plane, so as to construct a spatial motion model to predict the target's next movement. However, this method has the disadvantages of robustness and few applicable scenarios, and in path planning, the location accuracy of 3D target points also directly affects the planning results. Contents of the invention [0003] The tech...

AI Technical Summary

Problems solved by technology

The 3D position of the target cannot be intuitively predicted or perceived during tracking. Existing methods can estimate the 3D spatial position of the target by fixing the initial height of the target or assuming a plane, so as to construct a spatial motion model to predict the target's next movement

However, this method has the disadvantages of robustness and few applicable scenarios. In path planning, the position accuracy of 3D target points also directly affects the planning results.

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