阅读说明：本技术 可移动平台的定位方法及相关装置、系统 (Positioning method of movable platform and related device and system ) 是由 唐克坦 林家荣 于 2018-02-28 设计创作，主要内容包括：一种可移动平台的定位方法,包括：获取对定位辅助装置进行拍摄得到的图像,其中定位辅助装置上配置有至少两种不同的尺寸类型的标定对象；检测图像中的每一种尺寸类型的标定对象的图像对象；从检测到的图像对象中选中一种或多种尺寸类型的标定对象的图像对象；根据选中的图像对象确定所述可移动平台相对于定位辅助装置的姿态信息和/或位置信息。还提供了可移动平台定位的相关装置、系统。该方法能有效提高确定可移动平台的姿态信息和/或位置信息的可靠性。(A method of positioning a movable platform, comprising: acquiring an image obtained by shooting a positioning auxiliary device, wherein at least two calibration objects with different size types are configured on the positioning auxiliary device; detecting an image object of the calibration object of each size type in the image; selecting one or more size types of image objects of the calibration object from the detected image objects; determining pose information and/or position information of the movable platform relative to the positioning aid from the selected image objects. Related apparatus, systems for positioning a movable platform are also provided. The method can effectively improve the reliability of determining the attitude information and/or the position information of the movable platform.)

A method of positioning a movable platform, comprising:

acquiring an image obtained by shooting a positioning auxiliary device, wherein at least two calibration objects with different size types are configured on the positioning auxiliary device;

detecting an image object of the calibration object of each size type in the image;

selecting image objects of one or more size types of calibration objects from the detected image objects;

determining pose information and/or position information of the movable platform relative to the positioning aid from the selected image objects.

The method of claim 1,

the detecting the image object of the calibration object of each size type in the image comprises:

carrying out binarization processing on the image to obtain an image after binarization processing;

acquiring a contour image object in the image after binarization processing;

image objects of the calibration object of each size type are determined from the contour image objects.

The method of claim 2,

the determining the image object of the calibration object of each size type from the contour image object comprises:

determining shape characteristic parameters of each contour image object;

determining whether the shape characteristic parameter corresponding to each contour image object meets a preset requirement;

and determining the image object of the calibration object of each size type from the contour image objects with the shape characteristic parameters meeting the preset requirements.

The method of claim 3,

the step of determining the image object of the calibration object of each size type from the contour image objects with the shape characteristic parameters meeting the preset requirements comprises the following steps:

determining the pixel value of the interior of the contour image object which meets the preset requirement;

and determining the image object of the calibration object of each size type according to the pixel value and the pixel value characteristic inside the calibration object of each size type.

The method according to any one of claims 1 to 4,

said determining pose information and/or position information of the movable platform relative to the positioning aid from the selected image objects comprises:

determining a calibration object on the positioning aid corresponding to each of the selected image objects;

and determining the attitude information and/or the position information of the movable platform relative to the positioning auxiliary device according to the position information of each image object in the image and the position information of the calibration object corresponding to each image object on the positioning auxiliary device.

The method of claim 5,

the determining a calibration object on the positioning aid corresponding to each of the selected image objects comprises:

determining a position characteristic parameter of each selected image object;

and determining the calibration object on the positioning auxiliary device corresponding to each image object in the selected image objects according to the position characteristic parameter of each selected image object and the position characteristic parameter of the calibration object on the positioning auxiliary device.

The method of claim 6,

the position characteristic parameters of the calibration object on the positioning auxiliary device are prestored in a storage device of the movable platform.

The method according to any one of claims 1 to 7,

the step of selecting the image object of the calibration object of one or more size types from the detected image objects comprises:

and selecting one or more size types of image objects of the calibration objects from the detected image objects according to the size types of the history matched calibration objects, wherein the size types of the history matched calibration objects are the size types of the calibration objects which are selected from the history images obtained by shooting the positioning auxiliary device and can determine the attitude information and/or the position information of the movable platform relative to the positioning auxiliary device.

The method according to any one of claims 1 to 7,

the step of selecting the image object of the calibration object of one or more size types from the detected image objects comprises:

and selecting the image objects of the calibration objects of one or more size types from the detected image objects according to the number of the image objects of the calibration objects of each size type.

The method according to any one of claims 1 to 7,

the step of selecting the image object of the calibration object of one or more size types from the detected image objects comprises:

and selecting one or more size types of image objects of the calibration object from the detected image objects according to historical distance information, wherein the historical distance information is the distance information of the movable platform relative to the positioning auxiliary device, which is determined according to historical images obtained by shooting the positioning auxiliary device.

The method according to any one of claims 1 to 7,

the step of selecting the image object of the calibration object of one or more size types from the detected image objects comprises:

determining a selected order of the detected image objects;

and according to the selection sequence, selecting one or more size types of image objects of the calibration object from the detected image objects.

The method of claim 11,

the determining the selected order of the detected image objects comprises:

determining the selected sequence of the detected image objects according to one or more of the size types of the historically matched calibration objects, the number of the image objects of the calibration objects of each size type and historical distance information; the size type of the calibration object which is matched with the history is the size type of the calibration object which is selected from the history images obtained by shooting the positioning auxiliary device and can determine the attitude information and/or the position information of the movable platform relative to the positioning auxiliary device, and the history distance information is the distance information of the movable platform relative to the positioning auxiliary device, which is determined according to the history images obtained by shooting the positioning auxiliary device.

The method of claim 1,

the movable platform is an unmanned aerial vehicle.

A positioning assistance device for positioning a movable platform, comprising:

a carrier device;

at least two size types of calibration objects arranged on the carrier device.

The device of claim 14, wherein the carrier device is a substrate.

The apparatus of claim 14, wherein the outer ring and the inner portion of the outer ring of at least one of the at least two size types of calibration objects are different colors.

The apparatus of claim 16, wherein the outer ring is black and the inner portion of the outer ring is white.

The apparatus of claim 16, wherein the outer ring is white and the inner portion of the outer ring is black.

Apparatus as claimed in claim 14, wherein the colour of the central portion of the calibration object of one of said at least two size types is different to the colour of the central portion of the calibration object of the other of said at least two size types.

The apparatus of any one of claims 14-19, wherein the at least two size types are two size types.

The device of any of claims 14-20, further comprising a textured image disposed on the carrier device.

A positioning device for a movable platform, comprising a processor and a memory, wherein,

the memory to store program instructions;

the processor executing the program instructions to:

acquiring an image obtained by shooting a positioning auxiliary device, wherein at least two calibration objects with different size types are configured on the positioning auxiliary device;

detecting an image object of the calibration object of each size type in the image;

selecting image objects of one or more size types of calibration objects from the detected image objects;

determining pose information and/or position information of the movable platform relative to the positioning aid from the selected image objects.

The apparatus of claim 22,

when detecting an image object of the calibration object of each size type in the image, the processor is specifically configured to:

carrying out binarization processing on the image to obtain an image after binarization processing;

acquiring a contour image object in the image after binarization processing;

image objects of the calibration object of each size type are determined from the contour image objects.

The apparatus of claim 23,

when the processor determines the image object of the calibration object of each size type from the contour image object, the processor is specifically configured to:

determining shape characteristic parameters of each contour image object;

determining whether the shape characteristic parameter corresponding to each contour image object meets a preset requirement;

and determining the image object of the calibration object of each size type from the contour image objects with the shape characteristic parameters meeting the preset requirements.

The apparatus of claim 24,

when the processor determines the image object of the calibration object of each size type from the contour image objects with the shape characteristic parameters meeting the preset requirements, the processor is specifically configured to:

determining the pixel value of the interior of the contour image object which meets the preset requirement;

and determining the image object of the calibration object of each size type according to the pixel value and the pixel value characteristic inside the calibration object of each size type.

The apparatus of any one of claims 22-25,

the processor, when determining pose information and/or position information of the movable platform with respect to the positioning assistance device from the selected image object, is specifically configured to:

determining a calibration object on the positioning aid corresponding to each of the selected image objects;

and determining the attitude information and/or the position information of the movable platform relative to the positioning auxiliary device according to the position information of each image object in the image and the position information of the calibration object corresponding to each image object on the positioning auxiliary device.

The apparatus of claim 26,

when determining the calibration object on the positioning assistance device corresponding to each of the selected image objects, the processor is specifically configured to:

determining a position characteristic parameter of each selected image object;

and determining the calibration object on the positioning auxiliary device corresponding to each image object in the selected image objects according to the position characteristic parameter of each selected image object and the position characteristic parameter of the calibration object on the positioning auxiliary device.

The apparatus of claim 27,

the position characteristic parameters of the calibration object on the positioning auxiliary device are prestored in a storage device of the movable platform.

The apparatus of any one of claims 22-28,

when selecting an image object of the calibration object of one or more size types from the detected image objects, the processor is specifically configured to:

and selecting one or more size types of image objects of the calibration objects from the detected image objects according to the size types of the history matched calibration objects, wherein the size types of the history matched calibration objects are the size types of the calibration objects which are selected from the history images obtained by shooting the positioning auxiliary device and can determine the attitude information and/or the position information of the movable platform relative to the positioning auxiliary device.

The apparatus of any one of claims 22-28,

when selecting an image object of the calibration object of one or more size types from the detected image objects, the processor is specifically configured to:

and selecting the image objects of the calibration objects of one or more size types from the detected image objects according to the number of the image objects of the calibration objects of each size type.

The apparatus of any one of claims 22-28,

when selecting an image object of the calibration object of one or more size types from the detected image objects, the processor is specifically configured to:

and selecting one or more size types of image objects of the calibration object from the detected image objects according to historical distance information, wherein the historical distance information is the distance information of the movable platform relative to the positioning auxiliary device, which is determined according to historical images obtained by shooting the positioning auxiliary device.

The apparatus of any one of claims 22-28,

when selecting an image object of the calibration object of one or more size types from the detected image objects, the processor is specifically configured to:

determining a selected order of the detected image objects;

and according to the selection sequence, selecting one or more size types of image objects of the calibration object from the detected image objects.

The apparatus of claim 32,

the processor, when determining the selected order of the detected image objects, is specifically configured to:

determining the selected sequence of the detected image objects according to one or more of the size types of the historically matched calibration objects, the number of the image objects of the calibration objects of each size type and historical distance information; the size type of the calibration object which is matched with the history is the size type of the calibration object which is selected from the history images obtained by shooting the positioning auxiliary device and can determine the attitude information and/or the position information of the movable platform relative to the positioning auxiliary device, and the history distance information is the distance information of the movable platform relative to the positioning auxiliary device, which is determined according to the history images obtained by shooting the positioning auxiliary device.

The apparatus of any one of claims 22-33,

the movable platform is an unmanned aerial vehicle.

A movable platform comprising a camera and a positioning device according to any one of claims 22 to 34; the shooting device is used for shooting the positioning auxiliary device.

A positioning system for a movable platform, comprising a movable platform and at least one positioning aid, wherein,

the positioning aid is a device according to any of claims 14-21;

the movable platform is as claimed in any one of claims 35.

A storage device storing program instructions for performing the method of any one of claims 1-13 when the program instructions are run on a processor.