The invention relates to a target detection positioning method based on a three-axis pan-tilt camera carried by an unmanned aerial vehicle. According to the method, an unmanned aerial vehicle is used as a platform, a three-axis holder is combined, and an image acquired by a visual sensor is subjected to enhanced denoising, segmentation and extraction to capture a target; a simple positioning mathematical geometric model is constructed, existing image data is analyzed and converted in combination with camera parameters, and in order to obtain actual position coordinates of a target, the target is locked in the center of a visual field at any time by a pan-tilt camera and moves along with the target, and the distance between the target and the target is obtained in combination with a laser distance measuring sensor. The relative position of the current target and the unmanned aerial vehicle is calculated timely and accurately; and calculating the specific position of the monitored target through coordinate conversion. According to the invention, under the condition of low cost and low information amount, the problems of complex operation means, high cost and poor robustness and accuracy in a target detection and positioning system can be effectively improved, and an accurate and rapid positioning system is provided for rescue work.

    本发明是一种基于无人机搭载三轴云台相机的目标检测定位方法。本发明以无人机为平台结合三轴云台通过对视觉传感器采集得到的图像经过增强去噪、分割提取以后来捕获目标;并构建简单的定位数学几何模型,对现有图像数据结合相机参数进行分析与转化,为得到目标的实际位置坐标,云台相机时刻将目标锁定在视野中央,跟随目标移动,结合激光测距传感器得到的与目标之间的距离,及时准确地计算当前目标与无人机的相对位置;通过坐标转换计算出被监测目标的具体位置。本发明在低成本、低信息量的情况下可以有效改善目标检测与定位系统中运算手段复杂、成本高昂、鲁棒性及准确性较差的问题,为救援工作提供准确快速的定位系统。


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    Title :

    Target detection positioning method based on unmanned aerial vehicle carrying three-axis pan-tilt camera


    Additional title:

    一种基于无人机搭载三轴云台相机的目标检测定位方法


    Contributors:
    HU JIA (author) / LI RUI (author) / WANG HONGTIAN (author) / ZHU XIANGYU (author)

    Publication date :

    2022-10-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06V



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