Visual sensor laser radar fused unmanned aerial vehicle positioning and mapping device and method

A vision sensor, lidar technology, applied in the field of vision sensors

Active Publication Date: 2021-02-09
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In order to overcome the deficiencies in the prior art, the present invention aims to propose and solve the problem of autonomous positioning and environment map estab

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  • Visual sensor laser radar fused unmanned aerial vehicle positioning and mapping device and method
  • Visual sensor laser radar fused unmanned aerial vehicle positioning and mapping device and method
  • Visual sensor laser radar fused unmanned aerial vehicle positioning and mapping device and method

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[0074]The autonomous positioning and mapping system for drones based on visual radar fusion proposed by the present invention is mainly composed of hardware parts and algorithm parts.

[0075]The hardware part includes binocular camera, 3D lidar, IMU inertial measurement unit, embedded airborne processor and drone platform. The binocular camera collects visual information of the surrounding environment with high measurement frequency and rich information. 3D lidar is mainly used to measure the 3D position information of the surrounding environment of drones, with high measurement accuracy and large coverage, and it can publish environmental information in the form of 3D point cloud data; IMU inertial measurement unit is used for high-frequency measurement of unmanned people Acceleration and angular velocity information of the aircraft itself; the embedded airborne processor is mainly used for algorithm operation. By processing the data collected by the camera, radar and IMU, it runs th...

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Abstract

The invention belongs to the field of visual sensors, laser radars, embedded unmanned aerial vehicles and provides a visual sensor laser radar fused unmanned aerial vehicle positioning and mapping device and method in order to solve the problems of autonomous positioning and environment map establishment of an unmanned aerial vehicle in a GPS denial environment and achieve autonomous flight and obstacle avoidance of the unmanned aerial vehicle in an unknown environment. The invention comprises a binocular camera, a laser radar, an IMU inertial measurement unit, an embedded airborne processor and an unmanned aerial vehicle platform. The binocular camera collects visual information of the surrounding environment; the laser radar is mainly used for measuring three-dimensional position information of the surrounding environment of the unmanned aerial vehicle; the IMU inertial measurement unit is used for measuring acceleration and angular velocity information of the unmanned aerial vehicleat high frequency; the embedded airborne processor is used for algorithm operation, and operates an autonomous positioning and mapping algorithm by processing data acquired by the camera, the radar and the IMU, so as to obtain the pose of the unmanned aerial vehicle and establish an environment map. The invention is mainly applied to unmanned aerial vehicle design and manufacturing occasions.

Description

technical field [0001] The invention belongs to the field of visual sensors, lidar sensors, embedded systems, and unmanned aerial vehicles, and in particular relates to an unmanned aerial vehicle perception system based on the combination of vision and lidar, which solves the problem of GPS (Global Positioning System) rejection The problem of autonomous positioning and environment map establishment of UAV based on visual radar in the restricted environment. Background technique [0002] In recent years, UAV technology is one of the important research hotspots at home and abroad. UAVs use wireless remote control or embedded program control instead of manual tasks to complete various tasks. It requires low advantages and has been widely used in military and civilian fields. Military drones have played an important role in reconnaissance, attack, and electronic countermeasures. Civilian drones are increasingly used in aerial photography, disaster monitoring, line inspection, ...

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Application Information

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IPC IPC(8): G06K9/00G06K9/46G06K9/62G06T5/00G06T7/277G01C21/16G01C22/00G01S17/89G01S17/933
CPCG06T5/006G06T7/277G01S17/89G01S17/933G01C21/165G01C22/00G06V20/10G06V10/44G06F18/25Y02T10/40
Inventor 田栢苓戴威张奕恺宗群
Owner TIANJIN UNIV
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