Pose estimation method for unmanned aerial vehicle based on point line and plane feature fusion
US11875534B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 29, 2022 |
| Grant date | Jan 16, 2024 |
| Priority date | — |
| Expiry date | Dec 29, 2042 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02T10/40
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
The present invention provides a pose estimation method for an unmanned aerial vehicle based on point, line and plane feature fusion, the method comprises the following steps: S1 extracting an RGB image and a depth map by using an RGB-D camera; S2 constructing a plane parameter space (PPS) according to the depth map, and mapping the depth map from a Cartesian space to the plane parameter space (PPS); S3 constructing an inverse octree structure, comprising: reversely constructing cell nodes for the plane parameter space (PPS) according to an octree rule, and for each cell node, performing fitting by using Gaussian distribution; S4 extracting a plane feature, comprising: extracting the plane feature on the basis of degree of feature extraction algorithm of the inverse octree; S5 extracting a linear feature, comprising: extracting a linear feature on the RGB image by using LSD algorithm detection.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.