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A high-precision target recognition and detection method under grid background

A detection method and high-precision technology, applied in the field of computer vision, can solve problems such as the inability to solve the influence of the recycling net, the color interference, and the inability to accurately calculate the distance between the drone and the target landing net.

Active Publication Date: 2021-04-27
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] (1) The simple centering algorithm cannot accurately calculate the distance between the UAV and the target landing net, and the strategy of collision net recovery puts forward higher requirements
[0004] (2) The target recognition algorithm based on color has poor anti-sunlight performance, and it is easy for the color to be interfered by similar targets.
[0005] (3) The recognition algorithm based on two-dimensional codes such as ArUco Marker cannot solve the problem of the influence of the grid of the recycling net on the target outline
[0006] To sum up: the existing technology cannot realize the long-distance high-precision recognition under the grid background

Method used

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  • A high-precision target recognition and detection method under grid background
  • A high-precision target recognition and detection method under grid background
  • A high-precision target recognition and detection method under grid background

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Embodiment Construction

[0055] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0056] The invention provides a high-precision target recognition and detection method under a grid background, comprising the following steps:

[0057] Step 1: Design the target

[0058] The target is a white bottom plate with one corner cut off; the bottom plate is provided with an icon array formed by regular arrangement of a plurality of identical icons; the size of the icons and the spacing between the icons are known. Icons are regular graphics such as circles, rectangles, hexagons or stars, and are black.

[0059] Among them, in order to improve the reliability of the contour extraction, a black frame is added around the base plate, which is more conducive to the extraction of the contour of the base plate.

[0060] Such as figure 1 As shown, the target parameters: the bottom plate is a white square with one corner missing, and the icon array is a ...

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Abstract

The invention discloses a high-precision target recognition and detection method under a grid background. Using the invention can realize real-time and high-precision recognition of targets under the grid background, and provide reliable visual navigation information for recovery of unmanned aerial vehicles hitting the grid. The present invention firstly designs a target, obtains a suitable binarization threshold based on the algorithm of gradient search threshold and optimal threshold update, and utilizes morphological filtering and thick and thin contour screening algorithms to realize target recognition in a mesh background, and at the same time In order to achieve real-time detection, the method of generating the region of interest and down-sampling is used to accelerate the algorithm. During the recovery process of the unmanned aerial vehicle hitting the net, the present invention uses image processing to provide position calculation information for navigation, so that the unmanned aerial vehicle can realize The function of self-recycling.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a high-precision target recognition and detection method under a grid background. Background technique [0002] With the continuous development of UAV technology, the self-recovery methods of fixed-wing UAVs mainly include aerial hooking, parachute recovery, net and rope recovery, airbag shock recovery and recoil rocket recovery. Among them, the recovery of the collision net can reduce the damage to the airframe and airborne equipment caused by the gust of wind and the impact on the ground. Large oil volume, prolong battery life. At present, the visual guidance method is mainly used to realize the collision recovery. The reliability and accuracy of the visual guidance part play a decisive role in the collision recovery. The existing visual recognition methods in the collision recovery process have the following problems to be solved: [0003] (1) The simple centering al...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06T7/13G06T7/136G06T7/70
CPCG06T7/13G06T7/136G06T7/70G06V20/10
Inventor 王佳楠江佳齐单家元
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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