The invention discloses a three-dimensional surveying and mapping system carried on a light unmanned aerial vehicle. The three-dimensional surveying and mapping system comprises the following steps: 1, image preprocessing; 2, performing image splicing by using SIFT to obtain a large image of a target area; 3, local positioning and drop point selection are carried out by relying on the spliced image; 4, performing depth recovery of the descending area by using a homography matrix-based seed growth method, and judging whether the descending area is suitable for descending or not; through the above steps, the unmanned aerial vehicle can have large-range surveying and mapping, autonomous local navigation positioning and certain three-dimensional reconstruction capabilities when only depending on the monocular camera. The method has the advantages of high adaptability, good robustness, wide application range, multiple purposes and the like. The unmanned aerial vehicle landing device can be used for surveying and mapping and reconstruction work in a specified area and can also be carried on a small unmanned aerial vehicle to enable the small unmanned aerial vehicle to land autonomously and safely in case of unexpected situations, falling accidents are prevented, and life and property safety of the masses and users is protected.

    一种搭载于轻量无人机的三维测绘系统,其步骤如下:一:图像预处理;二:利用SIFT进行图像拼接,得到目标区域大图;三:依靠拼接所得图像进行局部定位以及落点选择;四:利用基于单应矩阵的种子生长法进行下降区域的深度恢复,判断是否适合降落;通过以上步骤,可以使得无人机在仅仅依靠单目相机时,便具备大范围测绘,自主局部导航定位以及一定的三维重建能力。具备适应性强,鲁棒性好,适用范围广,用途多样等优点。既可用于进行规定区域内的测绘以及重建工作,亦可以搭载于小型无人机使其在突发意外情况时可以自主安全降落,防止坠落事故发生,保护群众以及使用者的生命财产安全。


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    Title :

    Three-dimensional surveying and mapping system carried on light unmanned aerial vehicle


    Additional title:

    一种搭载于轻量无人机的三维测绘系统


    Contributors:
    LI LU (author) / YU DIANYU (author) / HOU CHENFENG (author) / ZHANG QIANRU (author) / SUN ZHIXIANG (author) / ZHOU FUGEN (author)

    Publication date :

    2022-09-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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