The invention discloses a landing control method and device, unmanned equipment and a storage medium, and relates to the technical field of unmanned equipment.The method comprises the steps that an image frame set and a map point set of a take-off point are obtained, and the image frame set comprises the ground height and the shooting pose corresponding to a first image frame shot above the take-off point; the map point set comprises three-dimensional map points and feature points in the first image frame where the three-dimensional map points are observed; acquiring a second image frame, and acquiring an adjacent image frame from the image frame set according to the height of the second image frame to the ground; under the condition that the second image frame is matched with the adjacent image frame, determining a shooting pose of the second image frame according to a matched first feature point between the second image frame and the adjacent image frame and an observed target three-dimensional map point corresponding to the first feature point; and adjusting the position of the unmanned equipment based on the position offset between the shooting poses of the second image frame and the adjacent image frame, and controlling the unmanned equipment to land based on the adjusted position.

    本申请公开一种降落控制方法、装置、无人设备及存储介质,涉及无人设备技术领域,方法包括:获取起飞点的图像帧集合和地图点集合,图像帧集合包括在起飞点上方拍摄的第一图像帧对应的对地高度和拍摄位姿,地图点集合包括三维地图点以及观测到三维地图点的第一图像帧中的特征点;获取第二图像帧,根据第二图像帧的对地高度,在图像帧集合中获取邻近图像帧;在第二图像帧与邻近图像帧相匹配的情况下,根据第二图像帧与邻近图像帧之间相匹配的第一特征点以及第一特征点对应观测到的目标三维地图点,确定第二图像帧的拍摄位姿;基于第二图像帧与邻近图像帧的拍摄位姿之间的位置偏移量调整无人设备的位置,控制无人设备基于调整后的位置进行降落。


    Access

    Download


    Export, share and cite



    Title :

    Landing control method and device, unmanned equipment and storage medium


    Additional title:

    降落控制方法、装置、无人设备及存储介质


    Contributors:
    LI YANG (author) / ZHONG WENQI (author) / ZHANG RUNCHU (author)

    Publication date :

    2025-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U / G06V / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen