CN105338316B - The integrating device of unmanned controller and image transmission module - Google Patents
The integrating device of unmanned controller and image transmission module Download PDFInfo
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- CN105338316B CN105338316B CN201510720673.9A CN201510720673A CN105338316B CN 105338316 B CN105338316 B CN 105338316B CN 201510720673 A CN201510720673 A CN 201510720673A CN 105338316 B CN105338316 B CN 105338316B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/40—Image enhancement or restoration using histogram techniques
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Abstract
The integrating device of unmanned controller and image transmission module, including earth station, HDMI signal adapters, figure passes emitter, figure transmitting/receiving apparatus, remote control and unmanned plane, the input of the output end connection HDMI signal adapters of earth station, the output end connection figure of HDMI signal adapters passes emitter input, present invention increase figure transmitting/receiving apparatus, it is installed on remote control, realize that earth station's picture screen is shown on a remote control, after figure transmitting/receiving apparatus integrates with remote control, external control hand can be independent of earth station, it can move freely, realize one man operation, portability greatly enhances, be advantageous to the safe and reliable flight of unmanned plane.
Description
Technical field
The present invention relates to a kind of integrating device, specifically a kind of unmanned controller and image transmission module it is integrated
Device.
Background technology
Current small-sized rotor wing unmanned aerial vehicle needs internal control hand and the people of external control hand two to operate, internal control during power circuit patrolling
Hand is responsible for observing earth station's data and unmanned plane during flying situation, and external control hand is responsible for manipulating unmanned plane and taken pictures.Flight course
In, the Various types of data and shooting image collected on unmanned plane by being wirelessly transmitted to ground handling station, earth station's display data with
Image result, these data and image provide analysis foundation for internal control hand external control hand.Under normal circumstances, hand is manipulated to survey in unmanned plane
Data and image in earth station are nearby observed by control in-car or earth station, and manipulation unmanned plane task device is taken pictures.Existing nothing
Man-machine remote control can not well real-time display unmanned plane shooting image and data.In pursuit movement object procedure, clap
Take the photograph equipment and also following motion, jitter phenomenon occurs in the image for so easily causing the shooting of the camera in motion, so as to influence
The definition of picture, it is unable to reach the purpose of monitoring target.
The content of the invention
It is an object of the invention to provide a kind of unmanned controller and the integrating device of image transmission module, can solve the problem that existing
The remote control for having unmanned plane can not the image of real-time display unmanned plane shooting and the problem of data well.
The present invention to achieve the above object, is achieved through the following technical solutions：Unmanned controller and image transmission module
Integrating device, including earth station, HDMI signal adapters, figure pass emitter, figure transmitting/receiving apparatus, remote control and nobody
Machine, the input of the output end connection HDMI signal adapters of earth station, the output end connection figure of HDMI signal adapters pass hair
Injection device input, figure pass the output end wireless connection figure transmitting/receiving apparatus of emitter, remote control controlled in wireless unmanned plane, nothing
Man-machine upper setting camera arrangement and wireless transmitter module, the picture that the wireless transmitter module of unmanned plane shoots camera arrangement is wireless
It is sent to earth station；Figure transmitting/receiving apparatus includes display screen and receiver, and receiver reception figure passes emitter signal and passed through
Display screen is shown；Described unmanned plane camera arrangement is two cameras, and figure transmitting/receiving apparatus is entered using following methods to picture
The processing of row stabilization：1. obtain the two images of two camera shootings of synchronization；Formula is passed through to the point acutance of two images
（A）Calculated：（A）Wherein, m, n are the length and width of image, and df is
Grey scale change amplitude, distance increments of the dx between pixel；2. the point acutance of two images is compared, retention point acutance compared with
Big image；3. the image 2. retained step carries out electronic flutter-proof processing, picture rich in detail is obtained.
Described processor is handled using following methods image, is comprised the steps：1. image-region R is divided
For background image region and object region, each image-region R obtains feature histogram respectively, and feature histogram is gray scale
Histogram H（n）, histograms of oriented gradients H（n）With Texture similarity H（n）；2. 1. every kind of feature histogram that step is obtained
It is normalized respectively, obtains the class conditional probability density distribution of every kind of feature histogram, wherein background image region
The class conditional probability density of feature histogram is distributed as po f（n）, the class conditional probability of the feature histogram of object region is close
Degree is distributed as pb f（n）；3. 2. step is obtained into po f（n）And pb f（n）According to formula（6）Calculate the likelihood L for obtaining every kind of featuref
（n）；（6）, ε is arithmetic number in formula.
Described grey level histogram H（n）According to formula（B）Calculate and obtain：（B）
Formula（B）In, i is pixel number, and R is target or background area, and f is gray scale value, and δ is Dirac function.
Described histograms of oriented gradients H（n）According to formula（C）Calculate and obtain：
（C）Formula（C）In, i is pixel number, and R is target or background area, and f is gradient direction value, and A is gradient amplitude value, and δ is
Dirac function.
Described Texture similarity H（n）According to formula（D）Calculate and obtain：（D）
Formula（C）In, i is pixel number, and R is target or background area, and f is textural characteristics LBP8,1Value, δ is Dirac function；Its
Middle textural characteristics LBP8,1According to formula（E）Calculate and obtain：（E）Formula（E）In, i is
Pixel number, the value counterclockwise from left to right in 8 neighborhoods centered on pixel c, giWith gcGray scale for pixel i and c takes
Value, I is unit indicator function.
In order to further realize the purpose of the present invention, following technical scheme can also be used：The side of the earth station connects
HDMI signal adapters are connect, are connected between earth station and HDMI signal adapters by USB supply lines and HDMI signal wires, HDMI
The sidepiece installation AV video signal cables of signal adapter, one end connection figure of AV video signal cables pass transmitter, and figure passes transmitter
Connection figure transmitting/receiving apparatus and battery, the sidepiece installation remote control of figure transmitting/receiving apparatus, figure transmitting/receiving apparatus are distinguished by wire
FPV display brackets are installed between remote control, remote control connects unmanned plane by wireless signal, and unmanned plane passes through wireless signal
Connect earth station.The FPV display brackets include swingle, fixed seat, spring, nut, bolt, circular cone and rack, rotation
On a remote control, middle part and the fixed seat of swingle are cut with scissors for the upper end connection figure transmitting/receiving apparatus of bull stick, fixed seat and rack installation
Connect, the sidepiece of fixed seat installs two springs, and one end connection swingle of spring, the both sides of swingle are matched somebody with somebody with two springs respectively
Close, the sidepiece installation nut of swingle, installation bolt on nut, the screw mandrel end installation circular cone of bolt, circular cone energy and tooth
Bar coordinates.The head installation butterfly handle of the bolt.The sidepiece installation diagram of the figure transmitting/receiving apparatus passes reception antenna.
The advantage of the invention is that：Present invention increase figure transmitting/receiving apparatus, is installed on remote control, realizes earth station
Picture screen shows that after figure transmitting/receiving apparatus integrates with remote control, external control hand can be independent of earth station, can be free on a remote control
It is mobile, one man operation is realized, portability greatly enhances, and is advantageous to the safe and reliable flight of unmanned plane.The HDMI signals of the present invention
Converter has automatic detection signal function, the HDMI signals that earth station exports is converted into AV signals, the AV signals of output enter
Enter emitter.Export vision signal：1.0Vpp, export screen standard：PAL, NTSC, export vision signal impedance matching：75 Europe
Nurse, compatible HDCP agreements.The figure of the present invention passes the AV signals of transmitter receipt HDMI signal adapters output, after Signal coding
Wireless transmission, figure pass the product performance of transmitter：Transmission power：1000mw, working frequency range 5740-5860/5705-5945, hair
Penetrate distance：2-4km, power consumption DC12 700mA.The figure transmitting/receiving apparatus of the present invention receives the wireless signal that transmitter is passed from figure
And decode, AV signals are shown on screen, product performance：5.8G figure passes receivers, 7 cun of high-definition display screens.The inventive method
Feature extraction has good stability when background illumination, target carriage change and part are blocked.The present invention also has knot
The advantages of structure concision and compact, manufacturing cost are cheap and easy to use.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；Fig. 2 is the structural representation of figure transmitting/receiving apparatus；Fig. 3 is Fig. 2 A to knot
Structure schematic diagram；Fig. 4 is Fig. 3 I partial enlargement structural representation；Fig. 5 is that first camera obtains image, and Fig. 6 is second
The image that camera obtains；Fig. 7 is the image after electronic flutter-proof processing；Fig. 8 is embodiment reset condition figure；Fig. 9 is embodiment
Background image region and object region combination grey level histogram；Figure 10 is embodiment background image region and object-image region
Domain bonding position histogram of gradients line；The texture Nogata that Figure 11 is embodiment background image region and object region combines
Figure；Figure 12 is embodiment gray scale likelihood distribution map；Figure 13 is embodiment direction gradient likelihood distribution map；Figure 14 is embodiment texture
Likelihood distribution map.
Mark explanation：The earth station 3USB supply lines 4HDMI signal wire 5HDMI signal adapters 6 of 1 unmanned plane 2 are remotely controlled
The figure of 8 figure transmitting/receiving apparatus of device 7AV video signal cables 9 passes the figure of 10 battery of transmitter 11 and passes reception antenna 12FPV displays
The rack of 19 circular cone of support 13 swingle, 14 butterfly handle, 15 fixed seat, 16 spring, 17 nut, 18 bolt 20.
Embodiment
The integrating device of unmanned controller and image transmission module, as shown in Figure 1, Figure 2 and Figure 3, including earth station 2,
HDMI signal adapters 5, figure pass emitter 9, figure transmitting/receiving apparatus 8, remote control 6 and unmanned plane 1, the output end of earth station 2
The input of HDMI signal adapters 5 is connected, the output end connection figure of HDMI signal adapters 5 passes the input of emitter 9, figure
The output end wireless connection figure transmitting/receiving apparatus 8 of emitter 9 is passed, the controlled in wireless unmanned plane 1 of remote control 6, is set on unmanned plane 1
Camera arrangement and wireless transmitter module, the picture Wireless transceiver that the wireless transmitter module of unmanned plane 1 shoots camera arrangement to ground
Face station 2；Figure transmitting/receiving apparatus 8 includes display screen and receiver, and receiver reception figure passes the signal of emitter 9 and passes through display screen
Display；The described camera arrangement of unmanned plane 1 is two cameras, and figure transmitting/receiving apparatus carries out stabilization using following methods to picture
Processing：
1. obtain the two images that two cameras 8 of synchronization are shot；Formula is passed through to the point acutance of two images（A）Enter
Row calculates：（A）Wherein, m, n are the length and width of image, and df is ash
Degree change amplitude, distance increments of the dx between pixel；2. being compared to the point acutance of two images, retention point acutance is larger
Image；3. the image 2. retained step carries out electronic flutter-proof processing, picture rich in detail is obtained.
By taking following embodiments as an example, illustrate：
1. obtaining the two images that two cameras 8 of synchronization are shot, as shown in Figure 5 and Figure 6, Fig. 5 is first and taken the photograph
As head obtains image, the image that Fig. 6 obtains for second camera；Formula is passed through to the point acutance of two images（A）Calculated：（A）Wherein, m, n are the length and width of image, and df is grey scale change width
Value, distance increments of the dx between pixel；2. being compared to the point acutance of two images, Fig. 5 point acutance is 14.66, Fig. 6
Point acutance be 8.99, the larger image of retention point acutance, i.e. Fig. 5；Prevent 3. the image graph 5 2. retained step carries out electronics
Processing is trembled, obtains picture rich in detail, as shown in Figure 7.
In order to effectively automatically follow the trail of target, the pass of middle target is chased after when target in image and background are efficiently separated
Key, processor 13 are handled image using following methods, illustrated in conjunction with the embodiments, can be effectively by target and the back of the body
Scape separates, and comprises the steps：A kind of local image characteristics of target appearance describe method, comprise the steps：
1. by image-region, R points are background image region and object region, as shown in figure 8, Fig. 8 is original image,
Figure center A is background area, and frame B is target area.Background area and target area obtain feature histogram, feature Nogata respectively
Figure is grey level histogram H（n）, histograms of oriented gradients H（n）With Texture similarity H（n）.
Grey level histogram H（n）According to formula（B）Calculate and obtain, background image region and object region are bound to together
In one histogram, as a result as shown in figure 9, wherein A is background image region intensity histogram figure line, B is object region gray scale
Nogata figure line：（B）Formula（B）In, i is pixel number, and R is target or background area
Domain, f are gray scale value, and δ is Dirac function.Histograms of oriented gradients H（n）According to formula（C）Calculate and obtain, by background image
Region and object region are bound in same histogram, and as a result as shown in Figure 10, wherein A is background image region direction ladder
Nogata figure line is spent, B is object region histograms of oriented gradients line：
（C）Formula（C）In, i is pixel number, and R is target or background area, and f is gradient direction value, and A is gradient amplitude value, and δ is
Dirac function.
Texture similarity H（n）According to formula（D）Calculate and obtain, background image region and object region are bound to
In same histogram, as a result as shown in figure 11, wherein A is background image region Texture similarity line, and B is object region line
Manage Nogata figure line：（D）Formula（D）In, i is pixel number, and R is target or the back of the body
Scene area, f are textural characteristics LBP8,1Value, δ is Dirac function；Wherein textural characteristics LBP8,1According to formula（E）Calculating obtains
：（E）Formula（E）In, i is pixel number, in 8 centered on pixel c
Value counterclockwise from left to right in neighborhood, giWith gcFor pixel i and c gray scale value, I is unit indicator function.2. by step
1. obtained every kind of feature histogram is normalized respectively, the class conditional probability density point of every kind of feature histogram is obtained
Cloth, gray scale likelihood distribution is as shown in figure 12, and direction gradient likelihood distribution is as shown in figure 13, and texture likelihood distribution is as shown in figure 14.
The class conditional probability density of the wherein feature histogram of background image region is distributed as po f（n）, object region
The class conditional probability density of feature histogram be distributed as pb f（n）；3. 2. step is obtained into po f（n）And pb f（n）According to formula（F）
Calculate the likelihood L for obtaining every kind of featuref（n）；（F）, ε is arithmetic number in formula, and ε, which appoints, to be taken
The arithmetic number of very little, to avoid taking the logarithm to zero.By the processing, target and background characteristics multi-modal are changed into for dividing
The feature likelihood L of classf（n）, larger on the occasion of representing it is more likely that target, smaller negative value represents it is more likely that background, close to zero
Then represent uncertain.To target following, test result indicates that, the inventive method is in background illumination, target carriage change and local quilt
Feature extraction has good stability when blocking.
Connected between described figure transmitting/receiving apparatus 8 and remote control 6 by FPV display brackets 12.Present invention increase figure
Transmitting/receiving apparatus 8, it is installed on remote control 6, realizes that earth station's picture screen is shown on remote control 6, figure, which passes, receives dress
Put 8 with remote control 6 it is integrated after, external control hand can move freely independent of earth station, realize one man operation, and portability increases
By force, the safe and reliable flight of unmanned plane 1 is advantageous to.The HDMI signal adapters 5 of the present invention have automatic detection signal function, will
The HDMI signals of earth station's output are converted to AV signals, and the AV signals of output enter emitter.Export vision signal：1.0Vpp
Export screen standard：PAL, NTSC, export vision signal impedance matching：75 ohm, compatible HDCP agreements.The figure of the present invention passes hair
Emitter 9 receives the AV signals of the output of HDMI signal adapters 5, and by wireless transmission after Signal coding, the product that figure passes transmitter 9 is special
Property：Transmission power：1000mw, working frequency range 5740-5860/5705-5945, transmitting range：2-4km, power consumption DC12 700mA.
The figure transmitting/receiving apparatus 8 of the present invention receives wireless signal and the decoding that transmitter 9 is passed from figure, and AV signals are shown on screen
Show, product performance：5.8G figure passes receivers, 7 cun of high-definition display screens.
The side connection HDMI signal adapters 5 of the earth station 2, pass through between earth station 2 and HDMI signal adapters 5
USB supply lines 3 and HDMI signal wires 4 connect, the sidepiece installation AV video signal cables 7 of HDMI signal adapters 5, AV vision signals
One end connection figure of line 7 passes transmitter 9, and figure passes transmitter 9 and distinguishes connection figure transmitting/receiving apparatus 8 and battery 10, figure by wire
The sidepiece installation remote control 6 of transmitting/receiving apparatus 8, installs FPV display brackets 12 between figure transmitting/receiving apparatus 8 and remote control 6, distant
Control device 6 and unmanned plane 1 is connected by wireless signal, unmanned plane 1 connects earth station 2 by wireless signal.
The FPV display brackets 12 include swingle 13, fixed seat 15, spring 16, nut 17, bolt 18, circular cone
19 and rack 20, the upper end connection figure transmitting/receiving apparatus 8 of swingle 13, fixed seat 15 and rack 20 are arranged on remote control 6, rotation
The middle part of bull stick 13 is be hinged with fixed seat 15, and the sidepiece of fixed seat 15 installs two springs 16, one end connection rotation of spring 16
Bar 13, the both sides of swingle 13 coordinate with two springs 16 respectively, the sidepiece installation nut 17 of swingle 13, are installed on nut 17
Bolt 18, the screw mandrel end installation circular cone 19 of bolt 18, circular cone 19 can coordinate with rack 20.The swingle 13 of the present invention can
Rotated freely with band cardon transmitting/receiving apparatus 8, spring 16 of the invention can be kept when figure transmitting/receiving apparatus 8 acts on without external force
Vertical state, facilitate the adjustment of figure transmitting/receiving apparatus 8.The circular cone 19 of the present invention can rotate to conjunction in figure transmitting/receiving apparatus 8
Coordinate during suitable angle with rack 20, figure transmitting/receiving apparatus 8 is fixed on proper angle.
The head installation butterfly handle 14 of the bolt 18.The butterfly handle 14 of the present invention can be such that staff makes
With instrument can swivel bolt 18.
The sidepiece installation diagram of the figure transmitting/receiving apparatus 8 passes reception antenna 11.The figure of the present invention passes reception antenna 11 can be with
Facilitate the reception signal of figure transmitting/receiving apparatus 8.
Technical scheme is not restricted in the range of embodiment of the present invention.The not detailed description of the present invention
Technology contents be known technology.
Claims (10)
1. the integrating device of unmanned controller and image transmission module, it is characterised in that：Including earth station（2）, HDMI signals
Converter（5）, figure pass emitter（9）, figure transmitting/receiving apparatus（8）, remote control（6）And unmanned plane（1）, earth station（2）It is defeated
Go out end connection HDMI signal adapters（5）Input, HDMI signal adapters（5）Output end connection figure pass emitter
（9）Input, figure pass emitter（9）Output end wireless connection figure transmitting/receiving apparatus（8）, remote control（6）Controlled in wireless without
It is man-machine（1）, unmanned plane（1）Upper setting camera arrangement and wireless transmitter module, unmanned plane（1）Wireless transmitter module will take pictures dress
The picture Wireless transceiver of shooting is put to earth station（2）；Figure transmitting/receiving apparatus（8）Including display screen and receiver, receiver receives
Figure passes emitter（9）Signal is simultaneously shown by display screen；Described unmanned plane（1）Camera arrangement is two cameras, and figure passes
Reception device carries out stabilization processing using following methods to picture：1. obtain two width figures of two camera shootings of synchronization
Picture；Formula is passed through to the point acutance of two images（A）Calculated：（A）Wherein, m,
N is the length and width of image, and df is grey scale change amplitude, distance increments of the dx between pixel；2. to the point acutance of two images
It is compared, the larger image of retention point acutance；3. the image 2. retained step carries out electronic flutter-proof processing, it is clear to obtain
Image.
2. the integrating device of unmanned controller according to claim 1 and image transmission module, it is characterised in that：It is described
Image handled using following methods, comprise the steps：1. R points are background image region and target by image-region
Image-region, each image-region R obtain feature histogram respectively, and feature histogram is grey level histogram H（n）, direction gradient
Histogram H（n）With Texture similarity H（n）；2. 1. every kind of feature histogram that step is obtained is normalized respectively,
The class conditional probability density distribution of every kind of feature histogram is obtained, the class condition of the wherein feature histogram of background image region is general
Rate Density Distribution is po f（n）, the class conditional probability density of the feature histogram of object region is distributed as pb f（n）；3. will
2. step obtains po f（n）And pb f（n）According to formula（F）Calculate the likelihood L for obtaining every kind of featuref（n）；（F）, ε is arithmetic number in formula.
3. the integrating device of unmanned controller according to claim 2 and image transmission module, it is characterised in that：It is described
Grey level histogram H（n）According to formula（B）Calculate and obtain：（B）Formula（B）In, i is pixel
Numbering, R is target or background area, and f is gray scale value, and δ is Dirac function.
4. the integrating device of unmanned controller according to claim 2 and image transmission module, it is characterised in that：It is described
Histograms of oriented gradients H（n）According to formula（3）Calculate and obtain：（C）Formula（C）
In, i is pixel number, and R is target or background area, and f is gradient direction value, and A is gradient amplitude value, and δ is dirac letter
Number.
5. the integrating device of unmanned controller according to claim 2 and image transmission module, it is characterised in that：It is described
Texture similarity H（n）According to formula（D）Calculate and obtain：（D）Formula（C）In, i is
Pixel number, R are target or background area, and f is textural characteristics LBP8,1Value, δ is Dirac function；Wherein textural characteristics
LBP8,1According to formula（5）Calculate and obtain：（5）Formula（5）In, i compiles for pixel
Number, the value counterclockwise from left to right in 8 neighborhoods centered on pixel c, giWith gcFor pixel i and c gray scale value, I is single
Position indicator function.
6. the integrating device of unmanned controller according to claim 1 and image transmission module, it is characterised in that：It is described
Figure transmitting/receiving apparatus（8）And remote control（6）Between pass through FPV display brackets（12）Connection.
7. the integrating device of unmanned controller according to claim 1 and image transmission module, it is characterised in that：It is described
Earth station（2）Side connection HDMI signal adapters（5）, earth station（2）With HDMI signal adapters（5）Between pass through USB
Supply lines（3）With HDMI signal wires（4）Connection, HDMI signal adapters（5）Sidepiece installation AV video signal cables（7）, AV regards
Frequency signal wire（7）One end connection figure pass transmitter（9）, figure biography transmitter（9）Connection figure transmitting/receiving apparatus is distinguished by wire
（8）And battery（10）, figure transmitting/receiving apparatus（8）Sidepiece installation remote control（6）, figure transmitting/receiving apparatus（8）With remote control（6）It
Between install FPV display brackets（12）, remote control（6）Unmanned plane is connected by wireless signal（1）, unmanned plane（1）By wireless
Signal connects earth station（2）.
8. the integrating device of unmanned controller according to claim 6 and image transmission module, it is characterised in that：FPV
Display bracket（12）Including swingle（13）, fixed seat（15）, spring（16）, nut（17）, bolt（18）, circular cone（19）
And rack（20）, swingle（13）Upper end connection figure transmitting/receiving apparatus（8）, fixed seat（15）And rack（20）Installed in remote control
Device（6）On, swingle（13）Middle part and fixed seat（15）It is be hinged, fixed seat（15）Sidepiece install two springs（16）, bullet
Spring（16）One end connection swingle（13）, swingle（13）Both sides respectively with two springs（16）Coordinate, swingle（13）
Sidepiece installation nut（17）, nut（17）Upper installation bolt（18）, bolt（18）Screw mandrel end installation circular cone（19）, cone
Shape block（19）Energy and rack（20）Coordinate.
9. the integrating device of unmanned controller according to claim 8 and image transmission module, it is characterised in that：Bolt
（18）Head installation butterfly handle（14）.
10. the integrating device of unmanned controller according to claim 1 and image transmission module, it is characterised in that：Institute
State figure transmitting/receiving apparatus（8）Sidepiece installation diagram pass reception antenna（11）.
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| CN206628079U (en) * | 2017-04-13 | 2017-11-10 | 深圳市大疆创新科技有限公司 | For controlling the remote control of mobile device |
| CN109827754A (en) * | 2019-02-14 | 2019-05-31 | 合肥赛为智能有限公司 | A kind of airport PAPI light check system based on tethered hovering unmanned plane |
| CN111596674A (en) * | 2020-03-31 | 2020-08-28 | 广州中科云图智能科技有限公司 | Landing positioning method and device for unmanned aerial vehicle and unmanned aerial vehicle nest |
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| TW201138430A (en) * | 2010-04-21 | 2011-11-01 | Hon Hai Prec Ind Co Ltd | Lens module and method of operating the same |
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| CN103400367A (en) * | 2013-07-03 | 2013-11-20 | 河海大学常州校区 | No-reference blurred image quality evaluation method |
| CN103426200A (en) * | 2013-08-26 | 2013-12-04 | 天津大学 | Tree three-dimensional reconstruction method based on unmanned aerial vehicle aerial photo sequence image |
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