A method, device, electronic device and storage medium for positioning a target object

Abstract

The present invention discloses a method, device, electronic device and storage medium for positioning a target object. The method comprises: determining the pixel coordinates of the target object in the image obtained by photographing the target object with a photographing device of a drone, and converting the pixel coordinates of the target object into the intermediate coordinates of the target object in an intermediate coordinate system; determining the direction vector of the target object according to the intermediate coordinates of the target object in the intermediate coordinate system and the coordinates of the drone in the intermediate coordinate system; determining a target geographic point matching the direction vector of the target object among the geographic points according to the elevation information of each geographic point, and determining the position of the target object according to the coordinates of the target geographic point in the intermediate coordinate system. The present invention can realize fast, efficient and accurate positioning of the target object, and reduce the hardware cost.

Description

Technical Field

[0001] The present invention relates to the field of image processing technology, and in particular to a method, device, electronic equipment and storage medium for locating a target object. Background Art

[0002] With the development of drone technology, drones can perform patrol, monitoring, reconnaissance and other tasks in the air according to preset routes or received instructions, and are increasingly widely used in agriculture, forestry, environmental monitoring, traffic management and other fields.

[0003] Drones are usually equipped with various sensors for detecting and locating target objects. However, existing drone-based target object positioning usually determines the three-dimensional position of the target object through images captured by depth cameras and binocular cameras, which makes the hardware cost high and increases the weight of the equipment carried by the drone, which is not conducive to the lightweight of the drone. Existing drone target object positioning can also use a monocular camera to stitch images taken at different angles to determine the three-dimensional position of the target object, resulting in a slow target object positioning speed. Summary of the invention

[0004] The present invention provides a method, device, electronic equipment and storage medium for positioning a target object, so as to realize fast, efficient and accurate positioning of the target object and reduce hardware cost.

[0005] In a first aspect, an embodiment of the present invention provides a method for positioning a target object, the method comprising:

[0006] Determine pixel coordinates of the target object in an image obtained by photographing the target object with a photographing device of the drone, and convert the pixel coordinates of the target object into intermediate coordinates of the target object in an intermediate coordinate system;

[0007] Determining a direction vector of the target object according to the intermediate coordinates of the target object in the intermediate coordinate system and the intermediate coordinates of the drone in the intermediate coordinate system;

[0008] According to the elevation information of each geographical point, a target geographical point matching the direction vector of the target object is determined among the geographical points, and the position of the target object is determined according to the intermediate coordinates of the target geographical point in the intermediate coordinate system.

[0009] In a second aspect, an embodiment of the present invention further provides a device for positioning a target object, the device comprising:

[0010] The module for determining the universal transverse Mercator coordinates of the target object is used to determine the pixel coordinates of the target object in the image obtained by photographing the target object with the photographing equipment of the drone, and convert the pixel coordinates of the target object into the intermediate coordinates of the target object in the intermediate coordinate system;

[0011] A target object direction vector determination module, used to determine the direction vector of the target object according to the intermediate coordinates of the target object in the intermediate coordinate system and the intermediate coordinates of the drone in the intermediate coordinate system;

[0012] The target object position determination module is used to determine the target geographical point that matches the direction vector of the target object among the geographical points according to the elevation information of each geographical point, and determine the position of the target object according to the intermediate coordinates of the target geographical point in the intermediate coordinate system.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a method for locating a target object as described in any one of the embodiments of the present invention is implemented.

[0014] In a fourth aspect, an embodiment of the present invention further provides a storage medium storing computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to execute a method for locating a target object as described in any one of the embodiments of the present invention.

[0015] The technical solution of the embodiment of the present invention is to photograph the target object through the photographing equipment of the drone, determine the pixel coordinates of the target object in the photographed image, convert the pixel coordinates into intermediate coordinates in the intermediate coordinate system, construct the target object direction vector according to the intermediate coordinates of the target object in the intermediate coordinate system and the coordinates of the drone in the intermediate coordinate system, select the target geographic point that best matches the target object direction vector from each geographic point according to the elevation information of each geographic point, and obtain the position coordinates of the target object according to the coordinates of the target geographic point in the intermediate coordinate system. The embodiment of the present invention solves the problem that the existing drone target object positioning method requires multi-angle shooting with a monocular camera or shooting with a binocular camera to obtain the position of the target object. The embodiment of the present invention only requires a single shooting with a monocular camera to obtain the position of the target object, thereby realizing fast, efficient and accurate target object positioning and reducing hardware costs.

[0016] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 is a flow chart of a method for locating a target object provided in Embodiment 1 of the present invention;

[0019] Figure 2 It is a schematic diagram of positioning a target object according to UTM coordinates and elevation information provided by the first embodiment of the present invention;

[0020] Figure 3 is a structural schematic diagram of a target object positioning device provided in Embodiment 2 of the present invention;

[0021] Figure 4 It is a structural schematic diagram of an electronic device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the 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 the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. In the embodiments of the present application, some existing solutions in the industry such as certain software, components, models, etc. may be mentioned, and they should be considered as exemplary, and their purpose is only to illustrate the feasibility of the implementation of the technical solution of the present application, but it does not mean that the applicant has or must use the solution.

[0024] The acquisition, transmission, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0025] Embodiment 1

[0026] Figure 1 A flowchart of a method for locating a target object is provided for the first embodiment of the present invention. This embodiment is applicable to the case where the target object is located by a drone. The method can be executed by a positioning device for the target object. The positioning device for the target object can be implemented in the form of hardware and / or software. The positioning device for the target object can be configured in a server, or in an electronic device installed on the drone.

[0027] like Figure 1 As shown, the method includes:

[0028] S110, determining pixel coordinates of the target object in an image obtained by photographing the target object with a photographing device of the drone, and converting the pixel coordinates of the target object into intermediate coordinates of the target object in an intermediate coordinate system.

[0029] Among them, the shooting equipment of the drone can refer to a monocular camera. In this embodiment, the target object can be located by the image taken by the monocular camera of the target object. The advantage of this setting is that, on the one hand, there is no need to set a depth camera or a binocular camera, which saves hardware costs, reduces the total weight of the drone, and realizes lightweight drone. On the other hand, when a monocular camera is installed on the drone, there is no need to control the drone to change the path, so that the monocular camera can capture images of the target object at different angles to achieve target object positioning, thereby improving the speed of target object positioning. In specific application scenarios, such as fire point positioning in forestry scenarios, or target vehicle positioning in transportation scenarios, the technical solution of this embodiment can be used to obtain a more efficient, fast, and accurate target object position.

[0030] In this embodiment, by performing image recognition on an image obtained by photographing the target object with the camera of the drone, the pixel coordinates of the target object in the image can be obtained. Specifically, a target object recognition model can be pre-trained, and the pixel coordinates of the target object output by the model can be obtained by inputting the image into the target object input model. The target object recognition model can be obtained by training a deep learning model such as a convolutional neural network model with sample images with the target object position marked, and this embodiment does not limit this.

[0031] The intermediate coordinate system refers to a coordinate system whose conversion relationship with the pixel coordinate system is known and in which the position coordinates of the drone's camera device in the coordinate system can be determined. In this embodiment, the pixel coordinates of the target object are converted into intermediate coordinates in the intermediate coordinate system, and at the same time, the coordinates of the drone in the intermediate coordinate system are obtained, so that the position coordinates of the target object and the drone in the same coordinate system can be obtained at the same time, thereby determining the direction vector of the target object.

[0032] Exemplarily, the intermediate coordinate system can be the Universal Transverse Mercator coordinates, also known as UTM (Universal Transverse Mercator Grid System) coordinates, which will be replaced by UTM coordinates below. The UTM coordinate system is a plane rectangular coordinate system that divides the surface of the earth into a grid according to certain rules. The intermediate coordinate system can also be a Gauss-Krüger projection coordinate system, which is a zone projection coordinate system that divides the earth's ellipsoid into several projection zones according to certain longitude differences. The intermediate coordinate system can also be the 2000 National Geodetic Coordinate System, which is a geocentric coordinate system with the center of mass of the earth as the origin. This embodiment does not limit the specific type of the intermediate coordinate system. This embodiment will hereinafter take the intermediate coordinate system as the UTM coordinate system as an example to illustrate the positioning process of the target object.

[0033] In this embodiment, by converting the pixel coordinates of the target object into intermediate coordinates in an intermediate coordinate system and obtaining the coordinates of the drone in the intermediate coordinate system, it is convenient to subsequently determine the direction of the target object relative to the drone based on the intermediate coordinates of the target object and the coordinates of the drone in the intermediate coordinate system.

[0034] In an optional embodiment, the pixel coordinates are converted into the intermediate coordinates of the target object in the intermediate coordinate system, which can be achieved through the coordinate conversion relationship between the pixel coordinate system and the intermediate coordinate system. Specifically, taking the intermediate coordinate system as the UTM coordinate system as an example, the conversion relationship between the pixel coordinate system and the UTM coordinate system can be determined through the following process: determining the relationship between the pixel coordinate system (image coordinate system) and the camera coordinate system; determining the conversion relationship between the camera coordinate system and the world coordinate system through the position and posture of the shooting device in the world coordinate system; determining the conversion relationship between the world coordinate system and the geographic coordinate system (latitude and longitude coordinate system) through a geodetic model or a geodetic algorithm; determining the conversion relationship between the geographic coordinate system and the geodetic rectangular coordinate system based on the earth ellipsoid model; since the UTM coordinate system is obtained by division and projection based on the geodetic rectangular coordinate system, it is known that the conversion relationship between the UTM coordinate system and the geodetic rectangular coordinate system, and finally obtaining the coordinate conversion relationship between the pixel coordinate system and the UTM coordinate system.

[0035] Furthermore, when the intermediate coordinate system is a UTM coordinate system, S110 may further include:

[0036] A1. Determine the projection distance according to the elevation information of each geographical point in the shooting direction of the drone shooting device;

[0037] A2. Determine the universal transverse Mercator coordinates of the target object according to the pixel coordinates of the target object in the image and the projection distance.

[0038] The shooting direction of the drone shooting device is also the line of sight of the shooting device. The direction of the drone route can be determined based on the yaw angle, roll angle and pitch angle of the drone. The line of sight of the shooting device can be determined based on the position and angle relationship between the drone and the shooting device.

[0039] Each geographic point can be a geographic point within the field of view of the shooting device, and the elevation information refers to the DEM (Digital Elevation Model) information (hereinafter referred to as DEM information). Specifically, the current position of the drone is determined, and the height of the drone above the ground is determined based on the DEM information corresponding to the current position of the drone. According to the height of the drone above the ground, the pitch angle of the gimbal of the shooting device, and the shooting device parameters, the geographic range corresponding to the field of view of the drone's shooting device is determined. Obtain the DEM information of the geographic points within the above geographic range. The geographic points refer to points with specific location coordinates in the DEM model.

[0040] The projection distance refers to the distance between the geographical point corresponding to the projection center of the shooting device and the shooting device. According to the current position of the drone and the DEM information of each geographical point, the distance between the shooting device and each geographical point can be calculated, and the projection distance can be determined according to the distance between the shooting device and each geographical point.

[0041] In an optional embodiment, a geographical point corresponding to the center point of the geographical range can be determined according to the geographical range corresponding to the field of view of the drone's shooting device, and the geographical point is used as the projection point on the ground corresponding to the projection center of the shooting device. The distance between the projection point and the drone is used as the projection distance.

[0042] In another optional embodiment, further, A1 may include:

[0043] A11, determining the elevation information of each geographical point in the shooting direction of the drone shooting device;

[0044] A12. Determine the distance between each geographical point and the drone according to the elevation information of each geographical point and the altitude information of the drone;

[0045] A13. The shortest distance between each geographic point and the drone is used as the projection distance.

[0046] Furthermore, each geographic point may be a geographic point within the field of view of the shooting device and in the direction of the line of sight of the shooting device. According to the DEM information of each geographic point and the current position and ground height of the drone, the distance between each geographic point and the drone can be calculated.

[0047] In this embodiment, the geographical point with the shortest distance to the drone, that is, the point closest to the drone in the shooting direction of the shooting device, is used as the projection point on the ground corresponding to the projection center of the shooting device. The distance between the projection point and the drone is used as the projection distance.

[0048] Furthermore, A2 may include:

[0049] A21. Determine an internal parameter matrix and an external parameter matrix of the shooting device of the drone;

[0050] A22, determining the camera coordinate system coordinates of the target object according to the pixel coordinates of the target object in the image, the intrinsic parameter matrix and the projection distance;

[0051] A23. Determine the universal transverse Mercator coordinates of the target object according to the camera coordinate system coordinates of the target object and the extrinsic parameter matrix.

[0052] Among them, the internal parameter matrix and the external parameter matrix can be determined according to the device parameters of the shooting device. Specifically, the internal parameter matrix can be determined according to the internal device parameters of the shooting device, including focal length, number of horizontal pixels of the sensor, number of vertical pixels of the sensor, center pixel position, etc. The external parameter matrix can be determined according to the external device parameters of the shooting device, including position, posture (pitch angle, yaw angle, roll angle), etc. The internal parameter matrix and the external parameter matrix can be determined by calibration of the shooting device, such as Zhang Zhengyou calibration method, etc. This embodiment does not limit the method for determining the internal parameter matrix and the external parameter matrix.

[0053] In this embodiment, the camera coordinate system coordinates of the target object are determined based on the pixel coordinates of the target object in the image, the intrinsic parameter matrix and the projection distance. Specifically, the pixel coordinates of the target object in the image are multiplied by the inverse matrix of the intrinsic parameter matrix and then multiplied by the projection distance to obtain the camera coordinate system coordinates of the target object.

[0054] In this embodiment, the UTM coordinates of the target object are determined according to the camera coordinate system coordinates of the target object and the external parameter matrix. Specifically, the camera coordinate system coordinates of the target object are multiplied by the external parameter matrix to obtain the UTM coordinates of the target object.

[0055] It should be noted that the UTM coordinates of the target object here are not the actual UTM coordinates of the target object, but the UTM coordinates of the point along the ray direction between the target object and the drone shooting device, and the distance from the shooting device is the projection distance. In this embodiment, the UTM coordinates of the "target object" are calculated for the purpose of determining the ray direction between the target object and the drone shooting device.

[0056] S120. Determine a direction vector of the target object according to the intermediate coordinates of the target object in the intermediate coordinate system and the coordinates of the drone in the intermediate coordinate system.

[0057] Among them, the coordinates of the drone in the intermediate coordinate system can be obtained by conversion according to the coordinates of the current position of the drone. Specifically, taking the intermediate coordinate system as the UTM coordinate system as an example, when the current position coordinates of the drone are longitude and latitude coordinates, the coordinate conversion relationship between the longitude and latitude coordinate system and the geodetic rectangular coordinate system and the conversion relationship between the UTM coordinate system and the geodetic rectangular coordinate system is determined, thereby converting the current longitude and latitude coordinates of the drone into UTM coordinates.

[0058] In this embodiment, a direction vector is constructed according to the UTM coordinates of the target object and the UTM coordinates of the drone. The direction vector is used to represent the direction of a ray between the target object and the drone shooting device.

[0059] Furthermore, S120 may further include: subtracting the coordinates of the drone in the intermediate coordinate system from the intermediate coordinates of the target object in the intermediate coordinate system to obtain a direction vector of the target object.

[0060] In this embodiment, the intermediate coordinates of the target object and the coordinates of the drone in the intermediate coordinate system are both coordinates in the intermediate coordinate system. Therefore, the direction vector of the target object can be obtained by subtracting the coordinates of the drone in the intermediate coordinate system from the intermediate coordinates of the target object. The direction vector is the direction in which the drone points to the target object in the intermediate coordinate system.

[0061] S130. Determine a target geographical point that matches the direction vector of the target object among the geographical points according to the elevation information of each geographical point, and determine the position of the target object according to the coordinates of the target geographical point in the intermediate coordinate system.

[0062] In this embodiment, the geographic point mentioned here refers to a geographic point within a certain geographic area that may contain the actual location of the target object. Narrowing the scope of the geographic point to a certain geographic area can reduce the amount of calculation and increase the speed of locating the target object.

[0063] In an optional embodiment, a spherical area with the middle coordinate of the target object as the center and a preset distance as the radius can be determined, and the spherical area is used as the geographical area range. Among the geographical points within the geographical area range, the target geographical point is determined.

[0064] In another optional embodiment, further, determining the target geographical point matching the direction vector of the target object among the geographical points according to the elevation information of the geographical points may further include:

[0065] B1. determining a candidate area according to the coordinates of the target object in the intermediate coordinate system and the direction vector of the target object;

[0066] B2, determining the elevation information of each geographic point in the candidate area, and determining the distance from each geographic point to the direction vector of the target object based on the elevation information of each geographic point in the candidate area and the direction vector of the target object;

[0067] B3. Use the geographical point with the shortest distance to the direction vector of the target object as the target geographical point that matches the direction vector of the target object.

[0068] In this embodiment, the scope of the geographical area can also be determined according to the direction vector of the target object. The candidate area is a certain geographical area that may contain the actual location of the target object. Specifically, a spherical area with the middle coordinate of the target object as the center and the direction vector distance as the radius can be used as a candidate area. It is also possible to use the range with the middle coordinate of the target object as the center and the direction of the direction vector moving a preset number of times the length of the direction vector as the candidate area. Exemplarily, the preset number can be 4. This embodiment does not limit the specific process of determining the candidate area according to the direction vector.

[0069] Determine the DEM information of each geographic point in the candidate area, and calculate the distance from each geographic point to the direction vector of the target object. Select the geographic point with the shortest distance, that is, the point closest to the direction vector of the target object, as the target geographic point. The target geographic point is identified as the intersection of the direction vector of the target object and the ground.

[0070] Furthermore, as an alternative to steps B2-B3, the DEM information of each geographic point in the candidate area can also be determined, and the DEM information of each geographic point in the candidate area can be fitted to obtain a DEM information curve of the geographic points corresponding to the candidate area. The intersection of the DEM information curve of the geographic points corresponding to the candidate area and the straight line where the direction vector of the target object is located can be directly used as the target geographic point. This embodiment does not impose any restrictions on this.

[0071] It should be noted that the target geographic point determined at this time is the actual location point of the target object. However, the location coordinates of the target geographic point at this time are coordinates in the intermediate coordinate system, and further coordinate transformation is required to obtain a location coordinate form that can directly perform subsequent data processing related to the location of the target object.

[0072] Further, determining the position of the target object according to the coordinates of the target geographic point in the intermediate coordinate system includes:

[0073] C1. Taking the coordinates of the target geographic point in the intermediate coordinate system as the target intermediate coordinates of the target object;

[0074] C2. Convert the target intermediate coordinates of the target object into longitude and latitude coordinates, and use the longitude and latitude coordinates as the position of the target object.

[0075] In this embodiment, the coordinates of the target geographic point in the intermediate coordinate system are the target intermediate coordinates of the target object, that is, the actual coordinates or real coordinates of the target object in the intermediate coordinate system.

[0076] The target intermediate coordinates of the target object are converted into longitude and latitude coordinates as the position coordinates of the target object. The specific process of converting the target intermediate coordinates into longitude and latitude coordinates can be implemented according to the conversion relationship between the intermediate coordinate system and the longitude and latitude coordinate system. Specifically, taking the intermediate coordinate system as the UTM coordinate system as an example, the conversion relationship between the UTM coordinate system and the longitude and latitude coordinate system can be determined according to the conversion relationship between the UTM coordinate system and the geodetic rectangular coordinate system, and the conversion relationship between the geodetic rectangular coordinate system and the geographic coordinate system (longitude and latitude coordinate system).

[0077] In a specific example, Figure 2 A schematic diagram of locating a target object based on UTM coordinates and elevation information is provided, such as Figure 2 As shown, the x-axis represents the due east direction, and the y-axis represents the due north direction. In this embodiment, the projection distance is calculated according to the projection point of the projection center of the shooting device on the ground. The position of the target object is calculated according to the projection distance. The UTM coordinates of the target object calculated according to the projection distance and the UTM coordinates of the drone are used to construct the direction vector of the target object. The intersection of the direction vector and the DEM information curve is used as the actual position of the target object. The UTM coordinates of the actual position of the target object are determined and then converted into longitude and latitude coordinates, which are the actual longitude and latitude coordinates of the target object.

[0078] The technical solution of the embodiment of the present invention is to photograph the target object through the photographing equipment of the drone, determine the pixel coordinates of the target object in the photographed image, convert the pixel coordinates into intermediate coordinates in the intermediate coordinate system, construct the target object direction vector according to the intermediate coordinates of the target object in the intermediate coordinate system and the coordinates of the drone in the intermediate coordinate system, select the target geographic point that best matches the target object direction vector from each geographic point according to the elevation information of each geographic point, and obtain the position coordinates of the target object according to the coordinates of the target geographic point in the intermediate coordinate system. The embodiment of the present invention solves the problem that the existing drone target object positioning method requires multi-angle shooting with a monocular camera or shooting with a binocular camera to obtain the position of the target object. The embodiment of the present invention only requires a single shooting with a monocular camera to obtain the position of the target object, thereby realizing fast, efficient and accurate target object positioning and reducing hardware costs.

[0079] Embodiment 2

[0080] Figure 3 This is a schematic diagram of the structure of a positioning device for a target object provided in Embodiment 2 of the present invention. Figure 3 As shown, the device comprises:

[0081] The target object intermediate coordinate determination module 210 is used to determine the pixel coordinates of the target object in the image obtained by photographing the target object with the photographing equipment of the drone, and convert the pixel coordinates of the target object into the intermediate coordinates of the target object in the intermediate coordinate system;

[0082] A target object direction vector determination module 220, configured to determine the direction vector of the target object according to the intermediate coordinates of the target object in the intermediate coordinate system and the coordinates of the drone in the intermediate coordinate system;

[0083] The target object position determination module 230 is used to determine the target geographical point that matches the direction vector of the target object among the geographical points according to the elevation information of each geographical point, and determine the position of the target object according to the coordinates of the target geographical point in the intermediate coordinate system.

[0084] The technical solution of the embodiment of the present invention is to photograph the target object through the photographing equipment of the drone, determine the pixel coordinates of the target object in the photographed image, convert the pixel coordinates into intermediate coordinates in the intermediate coordinate system, construct the target object direction vector according to the intermediate coordinates of the target object in the intermediate coordinate system and the coordinates of the drone in the intermediate coordinate system, select the target geographic point that best matches the target object direction vector from each geographic point according to the elevation information of each geographic point, and obtain the position coordinates of the target object according to the coordinates of the target geographic point in the intermediate coordinate system. The embodiment of the present invention solves the problem that the existing drone target object positioning method requires multi-angle shooting with a monocular camera or shooting with a binocular camera to obtain the position of the target object. The embodiment of the present invention only requires a single shooting with a monocular camera to obtain the position of the target object, thereby realizing fast, efficient and accurate target object positioning and reducing hardware costs.

[0085] Based on the above embodiment, optionally, the target object position determination module 230 includes:

[0086] A candidate region determining unit, configured to determine a candidate region according to the coordinates of the target object in the intermediate coordinate system and the direction vector of the target object;

[0087] A geographic point distance determination unit, used to determine the elevation information of each geographic point in the candidate area, and determine the distance from each geographic point to the direction vector of the target object based on the elevation information of each geographic point in the candidate area and the direction vector of the target object;

[0088] The target geographical point determination unit is used to use the geographical point with the shortest distance to the direction vector of the target object as the target geographical point that matches the direction vector of the target object.

[0089] Based on the above embodiment, optionally, the target object position determination module 230 includes:

[0090] A target intermediate coordinate determination unit, used to use the coordinates of the target geographic point in the intermediate coordinate system as the target intermediate coordinates of the target object;

[0091] The target object position determination unit is used to convert the target intermediate coordinates of the target object into longitude and latitude coordinates, and use the longitude and latitude coordinates as the position of the target object.

[0092] Based on the above embodiment, optionally, the intermediate coordinate system is a universal transverse Mercator coordinate system; the target object intermediate coordinate determination module 210 includes:

[0093] A projection distance determination unit, used to determine the projection distance according to the elevation information of each geographical point in the shooting direction of the drone shooting device;

[0094] The target object universal transverse Mercator coordinate determining unit is used to determine the universal transverse Mercator coordinate of the target object according to the pixel coordinates of the target object in the image and the projection distance.

[0095] Based on the above embodiment, optionally, the projection distance determination unit is specifically used to:

[0096] Determine the elevation information of each geographic point in the shooting direction of the drone shooting device;

[0097] Determine the distance between each geographical point and the drone according to the elevation information of each geographical point and the altitude information of the drone;

[0098] The shortest distance between each geographic point and the drone is taken as the projection distance.

[0099] Based on the above embodiment, optionally, the target object universal transverse Mercator coordinate determination unit is specifically used to:

[0100] Determine an internal parameter matrix and an external parameter matrix of a camera of the drone;

[0101] Determine the camera coordinate system coordinates of the target object according to the pixel coordinates of the target object in the image, the intrinsic parameter matrix and the projection distance;

[0102] The universal transverse Mercator coordinates of the target object are determined according to the camera coordinate system coordinates of the target object and the extrinsic parameter matrix.

[0103] Based on the above embodiment, optionally, the target object direction vector determination module 220 includes:

[0104] The direction vector determining unit is used to obtain the direction vector of the target object by subtracting the coordinates of the drone in the intermediate coordinate system from the intermediate coordinates of the target object in the intermediate coordinate system.

[0105] The target object positioning device provided in the embodiment of the present invention can execute the target object positioning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0106] Embodiment 3

[0107] Figure 4A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0108] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0109] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0110] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for locating a target object.

[0111] In some embodiments, the method for locating a target object may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for locating a target object described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the method for locating a target object in any other appropriate manner (e.g., by means of firmware).

[0112] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0113] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0114] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0115] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0116] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0117] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0118] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0119] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for locating a target object, characterized in that: include: Determine pixel coordinates of the target object in an image obtained by photographing the target object with a photographing device of the drone, and convert the pixel coordinates of the target object into intermediate coordinates of the target object in an intermediate coordinate system; Determine a direction vector of the target object according to the intermediate coordinates of the target object in the intermediate coordinate system and the coordinates of the drone in the intermediate coordinate system; Determining a target geographical point that matches the direction vector of the target object among the geographical points according to the elevation information of the geographical points includes: Determine a candidate area according to the coordinates of the target object in the intermediate coordinate system and the direction vector of the target object; Determine the elevation information of each geographic point in the candidate area, and determine the distance from each geographic point to the direction vector of the target object based on the elevation information of each geographic point in the candidate area and the direction vector of the target object; Taking the geographical point with the shortest distance to the direction vector of the target object as the target geographical point that matches the direction vector of the target object; The position of the target object is determined according to the coordinates of the target geographic point in the intermediate coordinate system.

2. The method according to claim 1, characterized in that Determining the position of the target object according to the coordinates of the target geographic point in the intermediate coordinate system includes: Taking the coordinates of the target geographic point in the intermediate coordinate system as the target intermediate coordinates of the target object; The target intermediate coordinates of the target object are converted into longitude and latitude coordinates, and the longitude and latitude coordinates are used as the position of the target object.

3. The method according to claim 1, characterized in that: The intermediate coordinate system is a universal transverse Mercator coordinate system; Converting the pixel coordinates of the target object into intermediate coordinates of the target object in an intermediate coordinate system includes: Determine the projection distance according to the elevation information of each geographical point in the shooting direction of the drone shooting device; The universal transverse Mercator coordinates of the target object are determined according to the pixel coordinates of the target object in the image and the projection distance.

4. The method according to claim 3, characterized in that Determining the projection distance according to the elevation information of each geographical point in the shooting direction of the drone includes: Determine the elevation information of each geographic point in the shooting direction of the drone shooting device; Determine the distance between each geographical point and the drone according to the elevation information of each geographical point and the altitude information of the drone; The shortest distance between each geographic point and the drone is taken as the projection distance.

5. The method according to claim 3, characterized in that: Determining the universal transverse Mercator coordinates of the target object according to the pixel coordinates of the target object in the image and the projection distance includes: Determine an internal parameter matrix and an external parameter matrix of a camera of the drone; Determine the camera coordinate system coordinates of the target object according to the pixel coordinates of the target object in the image, the intrinsic parameter matrix and the projection distance; The universal transverse Mercator coordinates of the target object are determined according to the camera coordinate system coordinates of the target object and the extrinsic parameter matrix.

6. The method according to claim 1, characterized in that Determining a direction vector of the target object according to the intermediate coordinates of the target object in the intermediate coordinate system and the coordinates of the drone in the intermediate coordinate system includes: The direction vector of the target object is obtained by subtracting the coordinates of the drone in the intermediate coordinate system from the intermediate coordinates of the target object in the intermediate coordinate system.

7. A positioning device for a target object, characterized in that: include: The target object intermediate coordinate determination module is used to determine the pixel coordinates of the target object in the image obtained by photographing the target object with the photographing equipment of the drone, and convert the pixel coordinates of the target object into the intermediate coordinates of the target object in the intermediate coordinate system; A target object direction vector determination module, used to determine the direction vector of the target object according to the intermediate coordinates of the target object in the intermediate coordinate system and the coordinates of the drone in the intermediate coordinate system; A target object position determination module, used to determine a target geographical point that matches the direction vector of the target object among the geographical points according to the elevation information of each geographical point, and determine the position of the target object according to the coordinates of the target geographical point in the intermediate coordinate system; Wherein, the target object position determination module includes: A candidate region determining unit, configured to determine a candidate region according to the coordinates of the target object in the intermediate coordinate system and the direction vector of the target object; A geographic point distance determination unit, used to determine the elevation information of each geographic point in the candidate area, and determine the distance from each geographic point to the direction vector of the target object based on the elevation information of each geographic point in the candidate area and the direction vector of the target object; The target geographical point determination unit is used to use the geographical point with the shortest distance to the direction vector of the target object as the target geographical point that matches the direction vector of the target object.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method for locating a target object as described in any one of claims 1-6 is implemented.

9. A storage medium storing computer executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to perform the method for locating a target object as described in any one of claims 1 to 6.

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