公开(公告)号：US20250022222A1

公开(公告)日：2025-01-16

申请号：US18770446

申请日：2024-07-11

Applicant: Tongji University

Inventor： Bin He ,  Gang Li ,  Feng Li ,  Yulong Ding ,  Bin Cheng ,  Zhongpan Zhu ,  Zhipeng Wang

IPC: G06T17/00 ,  G06T5/20 ,  G06T5/70 ,  G06V10/44

Abstract: A method for constructing a structural semantic map under an underground weak-light and low-texture environment is provided. The method includes: fusing traditional methods with a parameter line detection and verification model of structural semantics of a Transformer; and establishing a geometric primitive half-plane search method guided by the direction of structural information. The method also includes establishing a neighborhood greedy expansion algorithm based on a geometric primitive model; and optimizing geometric primitive poses and boundaries one by one. The method further includes fusing a point cloud map with structural information, and establishing a semantic map with geometric structure primitives.

公开(公告)号：US12125142B2

公开(公告)日：2024-10-22

申请号：US17808117

申请日：2022-06-22

Applicant: TONGJI UNIVERSITY

Inventor： Bin He ,  Gang Li ,  Runjie Shen ,  Bin Cheng ,  Zhipeng Wang ,  Ping Lu ,  Zhongpan Zhu ,  Yanmin Zhou ,  Qiqi Zhu

IPC: G06T17/05 ,  B64C39/02 ,  B64U20/87 ,  B64U101/30 ,  G01C21/16 ,  G01S17/86 ,  G01S17/89 ,  G05D1/00 ,  G06T7/73 ,  G06T19/20

CPC classification number: G06T17/05 ,  B64C39/024 ,  B64U20/87 ,  G01C21/165 ,  G01S17/86 ,  G01S17/89 ,  G05D1/106 ,  G06T7/74 ,  G06T7/75 ,  G06T19/20 ,  B64U2101/30 ,  G06T2207/10028 ,  G06T2207/10032 ,  G06T2207/30181 ,  G06T2219/2016

Abstract: The method includes: obtaining point cloud information collected by a depth camera, laser information collected by a lidar, and motion information of an unmanned aerial vehicle (UAV); generating a raster map based on the laser information, and obtaining pose information of the UAV based on the motion information; obtaining a map model through fusing the point cloud information, the raster map, and the pose information by a Bayesian fusion method; and correcting a latest map model by feature matching based on a previous map model.

公开(公告)号：US11847920B2

公开(公告)日：2023-12-19

申请号：US17450577

申请日：2021-10-12

Applicant: Tongji University

Inventor： Bin He ,  Gang Li ,  Zhipeng Wang ,  Yanmin Zhou ,  Ping Lu ,  Zhongpan Zhu ,  Yang Shen

IPC: G08G5/00 ,  B64C39/02 ,  B64U101/00

CPC classification number: G08G5/003 ,  B64C39/024 ,  G08G5/0069 ,  B64U2101/00

Abstract: A system and a method are provided for feasibility evaluation of UAV Digital Twin based on Vicon motion capture system is disclosed, which establishes a mission feasibility evaluation model according to flight history data of a target UAV acquired by the UAV Digital Twin system. The mission feasibility evaluation model includes a UAV trajectory prediction module and a mission feasibility determination module. The UAV trajectory prediction module acquires real-time position and attitude information of the target UAV according to the Vicon motion capture system, and predicts target flight trajectory of the target UAV according to the real-time position and attitude information. The mission feasibility determination module compares the position difference between an end point of the target flight trajectory and preset designated mission point to evaluate feasibility of target mission of the target UAV.

公开(公告)号：US20220383484A1

公开(公告)日：2022-12-01

申请号：US17580935

申请日：2022-01-21

Applicant: Tongji University

Inventor： Bin He ,  Gang Li ,  Runjie Shen ,  Zhongpan Zhu ,  Zhipeng Wang ,  Jie Chen ,  Xudong Wang

IPC: G06T7/00 ,  G06T7/70 ,  G06T5/00 ,  G06T7/20 ,  G05D1/10 ,  G01M5/00

Abstract: Tunnel defect detecting method and system using unmanned aerial vehicle (UAV) are provided, and the UAV is equipped with a light-emitting diode (LED) module, a camera, a laser radar, an ultrasonic distance meter and an inertial measurement unit (IMU). The method includes: collecting images in a tunnel based on the LED module and the camera to obtain a training image set; training by using the training image set to obtain a defect detecting model, collecting real-time tunnel images, detecting suspected defects to the real-time tunnel images by the defect detecting model, obtaining pose information of the UAV based on the camera, the laser radar, the ultrasonic distance meter and the IMU to control the UAV to hover. The method can realize accurate pose estimation and defect detection in the tunnel with no GPS signals and highly symmetrical inside.