The invention provides a pod attitude correction method based on a three-dimensional scene model, and the method comprises the steps: generating a projection image closest to a current video frame image in real time through a preset three-dimensional scene model, carrying out the feature point matching of the two images, and obtaining the correction values of the pod attitude and the focal length through an algorithm. The attitude and the camera are calibrated in a highly automatic complex scene unmanned aerial vehicle low-altitude large-inclination-angle video inspection task so as to ensure that the ROI is effectively covered, and the absolute positioning precision is improved so as to ensure the effectiveness of operation. The invention also provides a pod attitude correction device based on the three-dimensional scene model, an unmanned aerial vehicle and a computer readable storage medium, which all have the above beneficial effects.

    本申请提供一种基于三维场景模型的吊舱姿态修正方法,利用预设三维场景模型实时生成与当前视频帧图像最近似的投影图像,然后将两种图像进行特征点匹配并通过算法获得吊舱姿态和焦距的修正值。实现了在高度自动化的复杂场景无人机低空大倾斜角度视频巡检任务中,对姿态和摄像机进行校准以保证ROI区域被有效覆盖,并提高了绝对定位精度,以保证作业的有效性。本申请同时还提供了一种基于三维场景模型的吊舱姿态修正装置、无人机和计算机可读存储介质,均具有上述有益效果。


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    Title :

    Pod attitude correction method and device based on three-dimensional scene model, and unmanned aerial vehicle


    Additional title:

    基于三维场景模型的吊舱姿态修正方法、装置和无人机


    Contributors:
    ZHOU LIMING (author) / GUO YOUWEI (author) / LIU HANG (author)

    Publication date :

    2021-09-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64C AEROPLANES , Flugzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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