The present disclosure provides a method and a system for modelling a poor texture tunnel based on a vision-lidar coupling. The method includes: obtaining point cloud information collected by a depth camera, laser information collected by a lidar, and motion information of an unmanned aerial vehicle (UAV); generating a raster map based on the laser information, and obtaining pose information of the UAV based on the motion information; obtaining a map model through fusing the point cloud information, the raster map, and the pose information by a Bayesian fusion method; and correcting a latest map model by feature matching based on a previous map model.


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    Titel :

    METHODS AND SYSTEMS FOR MODELING POOR TEXTURE TUNNELS BASED ON VISION-LIDAR COUPLING


    Beteiligte:
    HE BIN (Autor:in) / LI GANG (Autor:in) / SHEN RUNJIE (Autor:in) / CHENG BIN (Autor:in) / WANG ZHIPENG (Autor:in) / LU PING (Autor:in) / ZHU ZHONGPAN (Autor:in) / ZHOU YANMIN (Autor:in) / ZHU QIQI (Autor:in)

    Erscheinungsdatum :

    2023-03-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B64C AEROPLANES , Flugzeuge / B64U / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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