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Unmanned aerial vehicle pose estimation method and system

A pose estimation and unmanned aerial vehicle technology, applied in the field of unmanned aerial vehicles

Active Publication Date: 2021-01-15
CHINA ACAD OF SAFETY SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Aiming at the high real-time and high-precision positioning problems of UAVs in complex industrial scenes, the present invention provides a UAV pose estimation method and system

Method used

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  • Unmanned aerial vehicle pose estimation method and system
  • Unmanned aerial vehicle pose estimation method and system

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Embodiment Construction

[0108] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0109] It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of the present invention, the directional indication is only used to explain the position in a certain posture (as shown in the accompanying drawing). If the specific posture changes, the directional indication will also change accordingly.

[0110] In addition, in describing the present invention, the terms used are for the purpose ...

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Abstract

The invention discloses an unmanned aerial vehicle pose estimation method, which comprises the following steps: front-end detection: extracting feature points of each frame of image from a binocular stereo image shot by a camera carried on an unmanned aerial vehicle, performing feature matching and feature tracking on adjacent frames of images to obtain an initial pose estimation result of the unmanned aerial vehicle, and obtaining a key frame; back-end detection: selecting the key frame, and optimizing the pose and the pose graph of the unmanned aerial vehicle based on the selected key frame;loopback detection: for the selected key frame, calculating the similarity between the images based on a bag-of-words model, and when the similarity exceeds a threshold, calculating similarity transformation and optimizing an attitude graph of the unmanned aerial vehicle, wherein the front-end detection, the rear-end detection and the loop-back detection are carried out in parallel. The inventionfurther discloses an unmanned aerial vehicle pose estimation system. According to the unmanned aerial vehicle pose estimation method, high-real-time and high-precision positioning of the unmanned aerial vehicle in a complex environment can be realized.

Description

technical field [0001] The present invention relates to the technical field of unmanned aerial vehicles, in particular, to a method and system for estimating the pose of an unmanned aerial vehicle. Background technique [0002] In related technologies, the identification and positioning of UAVs are mostly realized by the UAV body, and its accuracy and reliability are low. Using a single-mode sensor for identification and positioning cannot comprehensively and accurately construct a positioning map, nor can it obtain accurate location information of drones. However, the method of identifying and locating by using artificial marking points needs to identify and calibrate the feature points, and the process is relatively cumbersome. Contents of the invention [0003] Aiming at the problem of high real-time and high-precision positioning of UAVs in complex industrial scenes, the present invention provides a UAV pose estimation method and system. [0004] The invention provid...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06K9/62
CPCG06T7/74G06F18/22
Inventor 史聪灵车洪磊王刚钱小东李建任飞
Owner CHINA ACAD OF SAFETY SCI & TECH