Unmanned aerial vehicle airborne sensor group external parameter rapid calibration method

A sensor group and calibration method technology, which is applied in the direction of instruments, image data processing, calculation, etc., can solve the problems of few research results and great difficulty

Active Publication Date: 2021-03-12
NAT UNIV OF DEFENSE TECH
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there are many studies on the calibration of external parameters of the camera-odometer system, and the camera-pan-tilt-odometer system is added to the pan-tilt system, and its external parameter calibration involves 3 coordinate systems, which is more difficult in comparison. , so far there are few research results

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  • Unmanned aerial vehicle airborne sensor group external parameter rapid calibration method
  • Unmanned aerial vehicle airborne sensor group external parameter rapid calibration method
  • Unmanned aerial vehicle airborne sensor group external parameter rapid calibration method

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Embodiment Construction

[0053] 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 part of the embodiments of the present invention, not all of them. 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.

[0054] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

[0055] In addition, in t...

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Abstract

The invention discloses an unmanned aerial vehicle airborne sensor group external parameter rapid calibration method which is characterized by comprising the following steps of 1, collecting an original sample set, 2, performing optimization and manual annotation on the original sample set to obtain a label sample set, and 3, establishing an optimization objective function of the external parameters of the sensor group, and performing iterative optimization on the external parameters of the sensor group based on the label sample set to obtain accurate external parameters of the sensor group. Aiming at an airborne camera-pan-tilt-odometer sensor group of an unmanned aerial vehicle, the invention provides an external parameter rapid calibration method, an external parameter optimization objective function is designed based on an optimization theory, and optimal estimation of external parameters of the airborne camera-pan-tilt-odometer sensor group under reconstruction error quadratic sumindexes is realized. Compared with a traditional manual assistance method, the parameter calibration efficiency is greatly improved on the premise that certain calibration precision is guaranteed.

Description

technical field [0001] The invention relates to the technical field of UAV airborne perception, in particular to a method for quickly calibrating external parameters of an UAV airborne sensor group. Background technique [0002] During the flight of UAVs, airborne sensors are the main equipment for current UAVs to perceive their own or environmental information. At present, the camera-pan / tilt-odometer is the basic sensor group configuration that constitutes the UAV perception system. Accurately obtain the spatial position and attitude conversion relationship between the coordinate systems of each sensor, that is, calibrate the external parameters of the sensor group, and fuse the sensor data. necessary prerequisite. At present, there are many studies on the calibration of external parameters of the camera-odometer system, and the camera-pan-tilt-odometer system is added to the pan-tilt system, and its external parameter calibration involves 3 coordinate systems, which is m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/70G06T7/80
CPCG06T7/70G06T7/80G06T2207/30181G06T2207/30244
Inventor 唐邓清相晓嘉周晗周勇常远闫超黄依新兰珍刘兴宇孙懿豪
Owner NAT UNIV OF DEFENSE TECH
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