The invention discloses a parafoil and load relative motion estimation method, system and equipment based on vision, and belongs to the technical field of airborne landing and airdrop. The method comprises the steps that S100, a camera is installed on the upper surface of a load, and the camera obtains an image with a parafoil; s200, off-line calibration is carried out on the coordinate system of the camera and the coordinate system of the image; s300, carrying out feature point extraction on the image; s400, converting the feature points from an image coordinate system to a camera coordinate system; s500, performing matching and pose estimation on the feature point images of the adjacent frames; and S600, estimating and outputting relative poses of the parafoil and the load. The invention provides a more convenient and more stable estimation method for estimating the parafoil-load relative pose in real time in the air-drop process.

    本发明公开了一种基于视觉的翼伞与载荷相对运动估计方法、系统及设备,属于空降空投技术领域。该方法包括:S100:在载荷上表面安装摄像机,所述摄像机获取带有翼伞的图像;S200:对所述摄像机的坐标系及图像的坐标系进行离线标定;S300:对所述图像进行特征点提取;S400:将特征点从图像坐标系转换到摄像机坐标系;S500:相邻帧的特征点图像进行匹配与位姿估计;S600:进行翼伞与载荷相对位姿估计并输出。本发明为空投过程中实时估计翼伞‑载荷的相对位姿提供一种更便利、更稳定的估计方法。


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    Title :

    Vision-based parafoil and load relative motion estimation method, system and equipment


    Additional title:

    一种基于视觉的翼伞与载荷相对运动估计方法、系统及设备


    Contributors:
    WANG JUN (author) / FU XINHUA (author) / ZHANG HAO (author) / LUO YUYU (author) / SONG BIAO (author) / LI SHOUZHUANG (author)

    Publication date :

    2024-06-21


    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 / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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