The invention discloses an unmanned aerial vehicle landing method and device, electronic equipment and a storage medium, and the method comprises the steps: carrying out the feature point extraction of a first image when an unmanned aerial vehicle takes off to a preset height, and obtaining a first feature point; calculating to obtain first direction information of the first feature point; feature point extraction is carried out on a second image when the unmanned aerial vehicle lands to a preset height, feature point matching is carried out on the second image and the first image, and second feature points matched with at least part of the first feature points are obtained; second direction information of the second feature point is calculated, and posture change information of the second image relative to the first image is determined based on the second direction information and the first direction information; and performing attitude adjustment based on the attitude change information. According to the method, an obvious and robust marker does not need to be arranged at a landing point in advance, so that the landing convenience and the real-time performance are improved; according to the method, accurate landing of the unmanned aerial vehicle can be realized in various environments, the real-time performance and the convenience of landing of the unmanned aerial vehicle are higher, and the precision is higher.

    本申请公开了一种无人机着陆方法、装置、电子设备及存储介质,该方法包括:针对无人机起飞至预定高度时的第一图像进行特征点提取,获得第一特征点;计算获得第一特征点的第一方向信息;针对无人机降落至预定高度时的第二图像进行特征点提取,将第二图像与第一图像进行特征点匹配,获得与至少部分第一特征点相匹配的第二特征点;计算第二特征点的第二方向信息,并基于第二方向信息和第一方向信息,确定第二图像相对于第一图像的姿态变化信息;基于姿态变化信息进行姿态调整。该方法无需预先在着陆点设置明显的并且鲁棒的标志物,着陆便利性及实时性得以提升;该方法可在各种环境下实现无人机精准着陆,无人机着陆实时性及便利性更强、精度更高。


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    Title :

    Unmanned aerial vehicle landing method and device, electronic equipment and storage medium


    Additional title:

    一种无人机着陆方法、装置、电子设备及存储介质


    Contributors:
    REN XUEFENG (author)

    Publication date :

    2024-02-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V