The invention belongs to the technical field of target recognition, and particularly relates to a multi-modal visual surveying and mapping method, module and pod for an unmanned aerial vehicle and the unmanned aerial vehicle, which can efficiently and quickly realize unmanned aerial vehicle sensing surveying and mapping calculation. The method comprises the following steps: step 1, acquiring an overall point cloud of the surrounding environment of the unmanned aerial vehicle; 2, partitioning the whole point cloud in the horizontal direction; 3, calculating the planarity of each block, and adding the blocks meeting a planarity threshold into a candidate set; 4, for the blocks which do not meet the planarity threshold value in the step 3, further dividing the blocks according to the height difference distribution characteristics of all points in the blocks; 5, repeating the steps 3-4 for the sub-blocks newly divided in the step 4 until the number of division times reaches a set number value or the number of points in the blocks is smaller than a set point number value; step 6, obtaining a to-be-selected area based on the candidate set; and 7, calculating a normal vector for the candidate area, calculating perpendicularity based on the normal vector, and taking the area with the perpendicularity smaller than a perpendicularity threshold value as a finally identified landing area.

    本发明属于目标识别技术领域,具体涉及无人机用多模态视觉测绘方法、模块、吊舱及无人机,能够高效快速地实现无人机感知测绘计算。方法包括:步骤1,获取无人机周围环境整体点云;步骤2,将整体点云在水平方向分块;步骤3,对每个块计算其平面性,满足平面性阈值的加入候选集合;步骤4,对步骤3中不满足平面性阈值的块,根据块内所有点的高差分布特征对块进一步划分;步骤5,对步骤4新划分的子块,重复步骤3~4,直至划分次数达到次数设定值或块内的点数量小于点数设定值;步骤6,基于候选集合得到待选区域;步骤7,对候选区域计算法向量,并基于法向量计算垂直度,将小于垂直度阈值的区域作为最终识别出的降落区域。


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    Title :

    Multi-modal visual surveying and mapping method, module and pod for unmanned aerial vehicle and unmanned aerial vehicle


    Additional title:

    无人机用多模态视觉测绘方法、模块、吊舱及无人机


    Contributors:
    LIU JINGBIN (author) / LIANG YIFAN (author) / LYU XUANFAN (author) / QIU HONGYU (author) / YIN FEI (author) / GONG XIAODONG (author)

    Publication date :

    2024-07-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B64U / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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