Unmanned aerial vehicle three-dimensional map construction method and device, computer equipment and storage medium

Abstract

The invention relates to an unmanned aerial vehicle three-dimensional map construction method. The method comprises the following steps of obtaining a video frame image shot by a camera, extracting feature points in each video frame image; matching the feature points by adopting a color histogram and scale invariant feature transformation hybrid matching algorithm to obtain feature point matchingpairs; calculating according to the feature point matching pairs to obtain a pose transformation matrix; determining a three-dimensional coordinate corresponding to each video frame image according tothe pose transformation matrix, and converting the three-dimensional coordinates of the feature points in the video frame image into a world coordinate system to obtain a three-dimensional point cloud map, taking the video frame image as the input of a target detection model to obtain target object information, and combining the three-dimensional point cloud map with the target object informationto obtain the three-dimensional point cloud map containing the target object information. According to the method, the real-time performance and accuracy of three-dimensional point cloud map construction are improved, and rich information is contained. In addition, the invention further provides an unmanned aerial vehicle three-dimensional map construction device, computer equipment and a storagemedium.

Description

technical field [0001] The present invention relates to the field of computer technology, in particular to a method, device, computer equipment and storage medium for constructing a three-dimensional map of an unmanned aerial vehicle. Background technique [0002] With the development of science and technology, drones are becoming smaller and more intelligent, and their flight space has expanded to jungles, cities and even buildings. Environmental perception is the basis for UAVs to understand the environment, navigate, plan, and make behavioral decisions during their work. Among them, the most important goal of environmental perception is to construct a perfect 3D map, and then plan and navigate the path based on the 3D map. The construction of traditional 3D maps is either low in accuracy or low in real-time performance, and the amount of information in the constructed map is small, which affects the planning and navigation of subsequent routes. Contents of the inventio...

AI Technical Summary

Problems solved by technology

The construction of traditional 3D maps is either low in accuracy or low in real-time, and the amount of information in the constructed map is less, which affects the planning and navigation of subsequent routes

Images