3 results about "Delaunay triangle" patented technology

A three-dimensional Mesh grid generation method for three-dimensional reconstruction of a stereo satellite belongs to the field of satellite image three-dimensional reconstruction production, and is characterized by comprising the following steps: performing intersection processing on a DSM image and building vector Shp data to obtain a roof DSM and a ground DEM; respectively processing the building vector Shp data, the roof DSM and the ground DEM to obtain three-dimensional vector feature points; performing grid turning point cloud processing on the ground DEM and the roof DSM; constructing a Delaunay triangulation network in a partitioning manner; and combining and outputting a final Mesh grid. By inputting a high-resolution DSM image and building vector Shp data of a corresponding region, extracting topographic features of a reference DEM and inputting the DSM by using a gradient calculation method, and by means of the satellite large-area three-dimensional grid generation method based on building geometric features and the DSM, the defects that the side face of a building is too fine in a satellite large-area three-dimensional scene in a traditional method, and the size of the building is too small can be effectively overcome. The technical problems of obvious splicing seams and unnatural texture transition in the prior art are solved, the existing topographic features are fully utilized, and the precision and attractiveness of the three-dimensional grid can be effectively improved.

The application discloses a kind of unmanned aerial vehicle maritime communication flight path planning method, device and system, belong to path planning technical field, method includes: grouping to the user scattered on sea surface, and form Delaunay triangle by grouped user;Determine the hovering point of unmanned aerial vehicle in each described Delaunay triangle;According to each described hovering point, the flight path of unmanned aerial vehicle is planned, the order that unmanned aerial vehicle visits each described hovering point is determined, and the shortest path is acquired;Based on the shortest path, the energy consumption of unmanned aerial vehicle in acceleration, deceleration and uniform speed stage is optimized, and the optimal path of unmanned aerial vehicle maritime communication is acquired.The method can acquire the shortest path and optimize the energy consumption of unmanned aerial vehicle in acceleration, deceleration and uniform speed stage, acquire the optimal path of unmanned aerial vehicle maritime communication.

The application discloses a kind of method and system for multiple robots to avoid obstacles based on thiesen polygon, the method comprises: initialization limited space environment, obtain selected bounded region, selected bounded region is divided using thiesen polygon, distribute pursuit target and pursuit target point, using Delaunay triangle to region segmentation corrosion, obtain safe movement area, based on pursuit target point and safe movement area obtain pursuit obstacle avoidance direction control pointing point.The system includes: initialization module, thiesen polygon module, task allocation module, safe area division module, pursuit direction point module and escape direction point module.Through using the application, a series of problems caused by using reinforcement learning, estimation prediction and other methods can be avoided, and the robot's collision avoidance and pursuit direction selection under the condition of multiple obstacles can be realized with lower algorithm complexity.The application can be widely applied to the field of robot pursuit obstacle avoidance technology.