Unmanned aerial vehicle image-based established route ground object identification and positioning method

Abstract

The invention relates to the field of unmanned aerial vehicle route inspection, and provides an unmanned aerial vehicle image-based established route ground object identification and positioning method, which comprises the following steps of: constructing an unmanned aerial vehicle image detection segmentation data set; constructing a potential region search model; constructing a detection segmentation model based on the high-definition image; generating route positioning and safety early warning; after threat target positioning segmentation is completed, obtaining corresponding network parameters, inputting new unmanned aerial vehicle images into the detection segmentation device, generating corresponding annotation images, utilizing the unmanned aerial vehicle attitude information corresponding to each image to draw a corresponding air route, calculating the distance between the air route and a target, and an alarm is given to the target with the height within the range of H meters.By adopting the positioning method provided by the invention, the threat target is segmented by using the detection segmentation technology, the air route is marked in the graph by using the pose information, the actual distance between the target object and the air route is calculated, safety early warning is carried out, and the positioning accuracy is high.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle route inspection, and in particular relates to a method for identifying and locating features on a predetermined route based on an image of an unmanned aerial vehicle. Background technique [0002] In recent years, with the maturity of satellite positioning system, the improvement of electronic and radio control technology, and the appearance of fixed-wing UAV structure, the application of UAV aerial photography technology in the industry has entered a stage of rapid development. The main needs of industrial users are data collection, material transportation, etc. In addition, it is also used in armed police, power inspection, pipeline inspection, land resources, medical treatment, disaster relief and other fields. These applications not only overcome the shortcomings of the above-mentioned traditional industries that consume a lot of manpower and material resources, but also ensure the pers...

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Problems solved by technology

[0004] In order to overcome the deficiencies of the prior art, the object of the present invention is to provide a method for identifying and locating features on a predetermined route based on UAV images, which solves the problem of the lack of features of small objects and the lack of local detail information in the existing locating methods. Technical issues with low accuracy

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