公开(公告)号：WO2016131847A9

公开(公告)日：2017-03-30

申请号：PCT/EP2016053302

申请日：2016-02-17

Applicant: PROX DYNAMICS AS

Inventor： MELBY JORUNN HELENE ,  SYVERTSEN JØRGEN ,  MUREN PETTER ,  JOHANSEN TOM-IVAR

IPC: G01C11/06 ,  G01C5/00 ,  G06T7/00

CPC classification number: G01C11/06 ,  G01C5/005 ,  G06T7/579 ,  G06T2207/10032

Abstract: The present invention relates to a system and a method for measuring and determining the depth, offset and translation in relation to one or several features in the field of view of an image sensor equipped UAV. The UAV comprises at least an autopilot system capable of estimating rotation and translation, processing means, height measuring means and one or more imaging sensor means. Given the estimated translation provided by the autopilot system, the objective of the present invention is achieved by the following method; capturing an image, initiating a change in altitude, capturing a second image, comparing the images and the change in height provided by the sensor to produce a scale factor or depth. If depth is estimated, then calculating the scale factor from the depth, and calculating the actual translation with the resulting scale factor.

Abstract translation: 本发明涉及一种用于测量和确定与装备图像传感器的UAV的视野中的一个或多个特征相关的深度，偏移和平移的系统和方法。 无人机至少包括能够估计旋转和平移的自动驾驶系统，处理装置，高度测量装置和一个或多个成像传感器装置。 给定由自动驾驶仪系统提供的估计翻译，本发明的目的通过以下方法实现： 拍摄图像，启动高度变化，捕获第二图像，比较图像和由传感器提供的高度变化以产生比例因子或深度。 如果估计深度，则从深度计算比例因子，并用所得比例因子计算实际平移。