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Ground target positioning method and system based on monocular vision of unmanned aerial vehicle

A ground target and UAV technology, applied in the field of ground target positioning based on UAV monocular vision, to achieve the effect of improving usability and accuracy

Pending Publication Date: 2020-12-22
天津(滨海)人工智能军民融合创新中心
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The existing UAV monocular vision target positioning algorithm cannot effectively meet the needs of insufficient calibration conditions and continuous positioning during UAV flight. It is particularly important to study a positioning algorithm that is continuously accurate and does not rely on precise camera calibration.

Method used

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  • Ground target positioning method and system based on monocular vision of unmanned aerial vehicle
  • Ground target positioning method and system based on monocular vision of unmanned aerial vehicle
  • Ground target positioning method and system based on monocular vision of unmanned aerial vehicle

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Embodiment 1

[0052] A schematic flow chart of a ground target positioning method based on unmanned aerial vehicle monocular vision provided by the present invention is as follows figure 1 shown, including:

[0053] S1: Obtain the position of the ground target in each frame of the UAV monocular vision image;

[0054] S2: Based on the position in the image, the real coordinates of the ground target are calculated using the field of view;

[0055] S3: Superimpose the real coordinates of the ground target on the pose information of the UAV to obtain the positioning information of the ground target during the flight of the UAV.

[0056] The specific technical scheme of the present invention is as figure 2 shown, including:

[0057] The first step is to realize the camera-based field of view (FOV) ground target positioning algorithm, and calculate the real coordinates of the ground target during the flight of the drone.

[0058] The specific method is:

[0059] 1.1 Set up the world coordin...

Embodiment 2

[0112] Another embodiment of a ground target positioning method based on unmanned aerial vehicle monocular vision is given below.

[0113] This embodiment comprises the following steps:

[0114] Step a1, get the position of the target in each frame of image. After the drone takes off, the camera is turned on, and the ground target is in place, the target position is initialized by manually framing the target or the target detection algorithm, and the target tracking method is used to continuously obtain the position of the target in the image. Manually frame the target means that after the camera captures the target, use the method of manually drawing a rectangular frame to frame the target on the frame of image containing the target, and initialize the position of the target in the image; using the target detection algorithm means that when the camera captures the target After that, the detection algorithm will automatically detect the target and use a rectangular frame to f...

Embodiment 3

[0155] Based on the same inventive concept, the present invention also provides a ground target positioning system based on unmanned aerial vehicle monocular vision, because the principle of these devices to solve technical problems is similar to the ground target positioning method based on unmanned aerial vehicle monocular vision, repeat I won't repeat them here.

[0156] The basic structure of the system is as Figure 4 As shown, including: position acquisition module, coordinate calculation module and positioning module;

[0157] The position acquisition module is used to obtain the position of the ground target in each frame of the drone's monocular vision image;

[0158] The coordinate calculation module is used to calculate the real coordinates of the ground target by using the field of view angle based on the position in the image;

[0159] The positioning module is used to superimpose the real coordinates of the ground target on the pose information of the drone to ...

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Abstract

The invention provides a ground target positioning method and system based on unmanned aerial vehicle monocular vision. The method comprises the steps that the position of a ground target in each frame of unmanned aerial vehicle monocular vision image is acquired; based on the position in the image, calculating a real coordinate of the ground target by adopting a field angle; and superposing the real coordinates of the ground target with the pose information of the unmanned aerial vehicle to obtain positioning information of the ground target in the flight process of the unmanned aerial vehicle. For current ground target positioning based on an airborne camera of an unmanned aerial vehicle, calibrated camera focal length parameters need to be used for calculation, and if the camera cannotbe accurately calibrated, a positioning result has a large error. Problems can be solved for scenes with insufficient calibration conditions, the camera focal length needing to be calibrated is not used, the camera field angle parameters are adopted for positioning calculation, only the rated field angle of the camera needs to be obtained, and calibration in advance is not needed. Therefore, the availability and the accuracy of the positioning algorithm under the condition of condition shortage can be improved.

Description

technical field [0001] The invention belongs to the technical field of computer vision and UAV sensors, and in particular relates to a ground target positioning method and system based on UAV monocular vision. Background technique [0002] In recent years, UAV (Unmanned Aerial Vehicle, UAV) has played an important role in various scenarios, such as UAV search and rescue and reconnaissance, environmental monitoring, traffic management, etc. In these application scenarios, a very important task of UAVs is to detect and track objects of interest. For example, in a search and rescue mission, the task of the UAV is to hover over the disaster-stricken area, accurately detect the victims who need to be searched and rescue and provide the location of the personnel, so that rescuers can carry out rescue. In the task of unmanned aerial vehicles to detect and track targets, it is essential to locate the real coordinates of the target. In terms of target positioning, researchers have ...

Claims

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Application Information

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IPC IPC(8): G06T7/70G06T7/277
CPCG06T7/70G06T7/277
Inventor 康颖王宁史殿习张拥军秦伟崔玉宁
Owner 天津(滨海)人工智能军民融合创新中心
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