The invention discloses a multi-rotor unmanned aerial vehicle angle analysis method and system based on nested targets and a terminal, and relates to the technical field of unmanned aerial vehicles, and the technical scheme is characterized in that a connected domain of a detected target is extracted, and a complete inner target and a complete outer target are segmented from the target according to the connected domain; selecting the inner target or the outer target as a reference target according to the flight height value and the height interval threshold value; performing normalization processing on the reference target according to the configuration size of the template target, and calculating a feature vector of the reference target; calculating the similarity between the feature vector of the reference target and the feature vector matrix to obtain a similarity matrix; and judging that the target detection is correct when the maximum value of the similarity matrix is not less than a preset threshold value, and if the target detection is correct, executing the step A or the step B. According to the invention, a design mode of nesting large and small targets is adopted, and it is ensured that a complete target exists in a view field when the actual space range of the view field is changed due to height change in the take-off and landing process of the unmanned aerial vehicle.
本发明公开了基于嵌套靶标的多旋翼无人机角度分析方法、系统及终端,涉及无人机技术领域,其技术方案要点是:提取检测到的靶标目标的连通域,并依据连通域从靶标目标中分割出完整的内靶标、外靶标,以及依据飞行高度值和高度区间阈值选取内靶标或外靶标作为参考靶标;依据模板靶标的配置尺寸对参考靶标归一化处理,并计算参考靶标的特征向量;计算参考靶标的特征向量与特征向量矩阵之间的相似度,得到相似度矩阵;以相似度矩阵的最大值不小于预设阈值来判断靶标检测正确,若正确,则执行步骤A或步骤B。本发明采用大小靶标嵌套的设计模式,保证在无人机起飞和降落过程中由于高度变化导致视场实际空间范围的变化时,视场中存在完整的目标。
Multi-rotor unmanned aerial vehicle angle analysis method and system based on nested target, and terminal
基于嵌套靶标的多旋翼无人机角度分析方法、系统及终端
2022-06-14
Patent
Elektronische Ressource
Chinesisch
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