CN112712565A - 基于视觉与imu融合的飞机蒙皮损伤无人机绕检定位方法 - Google Patents
基于视觉与imu融合的飞机蒙皮损伤无人机绕检定位方法 Download PDFInfo
- Publication number
- CN112712565A CN112712565A CN202011595863.XA CN202011595863A CN112712565A CN 112712565 A CN112712565 A CN 112712565A CN 202011595863 A CN202011595863 A CN 202011595863A CN 112712565 A CN112712565 A CN 112712565A
- Authority
- CN
- China
- Prior art keywords
- camera
- aerial vehicle
- unmanned aerial
- vision
- aircraft skin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 74
- 230000037380 skin damage Effects 0.000 title claims abstract description 25
- 230000004927 fusion Effects 0.000 title claims abstract description 21
- 238000004804 winding Methods 0.000 title claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 31
- 230000003287 optical effect Effects 0.000 claims abstract description 25
- 239000013598 vector Substances 0.000 claims abstract description 25
- 238000007689 inspection Methods 0.000 claims abstract description 13
- 239000011159 matrix material Substances 0.000 claims description 27
- 230000006378 damage Effects 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 238000012795 verification Methods 0.000 claims description 8
- 238000013519 translation Methods 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000013178 mathematical model Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000002567 autonomic effect Effects 0.000 claims description 2
- 238000012847 principal component analysis method Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 28
- 238000005516 engineering process Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 10
- 238000000513 principal component analysis Methods 0.000 description 7
- 230000000007 visual effect Effects 0.000 description 3
- 238000012546 transfer Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000011946 reduction process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/277—Analysis of motion involving stochastic approaches, e.g. using Kalman filters
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Mathematical Physics (AREA)
- Pure & Applied Mathematics (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Data Mining & Analysis (AREA)
- Computing Systems (AREA)
- Geometry (AREA)
- Multimedia (AREA)
- Algebra (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011595863.XA CN112712565B (zh) | 2020-12-28 | 2020-12-28 | 基于视觉与imu融合的飞机蒙皮损伤无人机绕检定位方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011595863.XA CN112712565B (zh) | 2020-12-28 | 2020-12-28 | 基于视觉与imu融合的飞机蒙皮损伤无人机绕检定位方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112712565A true CN112712565A (zh) | 2021-04-27 |
CN112712565B CN112712565B (zh) | 2024-03-01 |
Family
ID=75546456
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202011595863.XA Active CN112712565B (zh) | 2020-12-28 | 2020-12-28 | 基于视觉与imu融合的飞机蒙皮损伤无人机绕检定位方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN112712565B (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113720721A (zh) * | 2021-08-16 | 2021-11-30 | 中国飞机强度研究所 | 一种飞机疲劳试验中内舱结构巡检的标定融合方法 |
CN113744230A (zh) * | 2021-08-27 | 2021-12-03 | 中国民航大学 | 一种基于无人机视觉的飞机蒙皮损伤智能检测方法 |
CN113888640A (zh) * | 2021-09-07 | 2022-01-04 | 浙江大学 | 一种适用于无人机云台相机的改进标定方法 |
CN115077832A (zh) * | 2022-07-28 | 2022-09-20 | 西安交通大学 | 一种飞机耐高温构件三维表面振动疲劳损伤测量方法 |
WO2023138119A1 (zh) * | 2022-01-18 | 2023-07-27 | 成都飞机工业(集团)有限责任公司 | 一种非接触式照相测孔标定装置及方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107367229A (zh) * | 2017-04-24 | 2017-11-21 | 天津大学 | 自由双目立体视觉转轴参数标定方法 |
CN110032201A (zh) * | 2019-04-19 | 2019-07-19 | 成都飞机工业(集团)有限责任公司 | 一种基于卡尔曼滤波的imu机载视觉姿态融合的方法 |
CN110081881A (zh) * | 2019-04-19 | 2019-08-02 | 成都飞机工业(集团)有限责任公司 | 一种基于无人机多传感器信息融合技术的着舰引导方法 |
CN110296691A (zh) * | 2019-06-28 | 2019-10-01 | 上海大学 | 融合imu标定的双目立体视觉测量方法与*** |
WO2020087846A1 (zh) * | 2018-10-31 | 2020-05-07 | 东南大学 | 基于迭代扩展卡尔曼滤波融合惯性与单目视觉的导航方法 |
CN111862238A (zh) * | 2020-07-23 | 2020-10-30 | 中国民航大学 | 一种全空间单目光笔式视觉测量方法 |
-
2020
- 2020-12-28 CN CN202011595863.XA patent/CN112712565B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107367229A (zh) * | 2017-04-24 | 2017-11-21 | 天津大学 | 自由双目立体视觉转轴参数标定方法 |
WO2020087846A1 (zh) * | 2018-10-31 | 2020-05-07 | 东南大学 | 基于迭代扩展卡尔曼滤波融合惯性与单目视觉的导航方法 |
CN110032201A (zh) * | 2019-04-19 | 2019-07-19 | 成都飞机工业(集团)有限责任公司 | 一种基于卡尔曼滤波的imu机载视觉姿态融合的方法 |
CN110081881A (zh) * | 2019-04-19 | 2019-08-02 | 成都飞机工业(集团)有限责任公司 | 一种基于无人机多传感器信息融合技术的着舰引导方法 |
CN110296691A (zh) * | 2019-06-28 | 2019-10-01 | 上海大学 | 融合imu标定的双目立体视觉测量方法与*** |
CN111862238A (zh) * | 2020-07-23 | 2020-10-30 | 中国民航大学 | 一种全空间单目光笔式视觉测量方法 |
Non-Patent Citations (1)
Title |
---|
于之靖 等: "蜂巢模型标记的飞机蒙皮小型损伤定位方法", 激光与光电子学进展, vol. 56, no. 18, 30 September 2019 (2019-09-30) * |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113720721A (zh) * | 2021-08-16 | 2021-11-30 | 中国飞机强度研究所 | 一种飞机疲劳试验中内舱结构巡检的标定融合方法 |
CN113720721B (zh) * | 2021-08-16 | 2024-05-03 | 中国飞机强度研究所 | 一种飞机疲劳试验中内舱结构巡检的标定融合方法 |
CN113744230A (zh) * | 2021-08-27 | 2021-12-03 | 中国民航大学 | 一种基于无人机视觉的飞机蒙皮损伤智能检测方法 |
CN113744230B (zh) * | 2021-08-27 | 2023-09-05 | 中国民航大学 | 一种基于无人机视觉的飞机蒙皮损伤智能检测方法 |
CN113888640A (zh) * | 2021-09-07 | 2022-01-04 | 浙江大学 | 一种适用于无人机云台相机的改进标定方法 |
CN113888640B (zh) * | 2021-09-07 | 2024-02-02 | 浙江大学 | 一种适用于无人机云台相机的改进标定方法 |
WO2023138119A1 (zh) * | 2022-01-18 | 2023-07-27 | 成都飞机工业(集团)有限责任公司 | 一种非接触式照相测孔标定装置及方法 |
CN115077832A (zh) * | 2022-07-28 | 2022-09-20 | 西安交通大学 | 一种飞机耐高温构件三维表面振动疲劳损伤测量方法 |
CN115077832B (zh) * | 2022-07-28 | 2022-11-08 | 西安交通大学 | 一种飞机耐高温构件三维表面振动疲劳损伤测量方法 |
Also Published As
Publication number | Publication date |
---|---|
CN112712565B (zh) | 2024-03-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN112712565A (zh) | 基于视觉与imu融合的飞机蒙皮损伤无人机绕检定位方法 | |
CN110296691B (zh) | 融合imu标定的双目立体视觉测量方法与*** | |
CN110370286B (zh) | 基于工业机器人和单目相机的定轴运动刚体空间位置识别方法 | |
CN105910535B (zh) | 一种用于舱段自动对接的单双目位姿偏差测量方法 | |
CN106920261B (zh) | 一种机器人手眼静态标定方法 | |
JP6324025B2 (ja) | 情報処理装置、情報処理方法 | |
CN108665499B (zh) | 一种基于视差法的近距飞机位姿测量方法 | |
WO2018035040A1 (en) | Vehicle wheel alignment methods and systems | |
CN106625673A (zh) | 狭小空间装配***及装配方法 | |
CN109269525B (zh) | 一种空间探测器起飞或着陆过程光学测量***及方法 | |
CN114993608B (zh) | 一种风洞模型三维姿态角测量方法 | |
CN106500699B (zh) | 一种适用于无人机室内自主降落的位姿估计方法 | |
US20220230348A1 (en) | Method and apparatus for determining a three-dimensional position and pose of a fiducial marker | |
CN113724337B (zh) | 一种无需依赖云台角度的相机动态外参标定方法及装置 | |
CN108036791B (zh) | 一种部件间高精度自动对接的位姿检测方法 | |
CN109087355A (zh) | 基于迭代更新的单目相机位姿测量装置与方法 | |
CN109489558A (zh) | 距离测量***和距离测量方法 | |
CN106840111A (zh) | 物体间位置姿态关系实时统一***及方法 | |
JP2007533963A5 (zh) | ||
CN109773589B (zh) | 对工件表面进行在线测量和加工导引的方法及装置、设备 | |
JP2007533963A (ja) | 物体の3d位置の非接触式光学的測定方法及び測定装置 | |
CN114459345A (zh) | 基于视觉空间定位的飞机机身位置姿态检测***及方法 | |
CN110136168B (zh) | 一种基于特征点匹配和光流法的多旋翼速度测量方法 | |
CN109342008B (zh) | 基于单应性矩阵的风洞试验模型迎角单相机视频测量方法 | |
WO2020175621A1 (ja) | カメラ校正情報取得装置、画像処理装置、カメラ校正情報取得方法および記録媒体 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Wu Jun Inventor after: Zhang Meimiao Inventor after: Guo Runxia Inventor after: Li Zechuan Inventor after: Liu Shaoyu Inventor after: Yuan Shaobo Inventor after: Zhu Yuheng Inventor before: Wu Jun Inventor before: Zhang Meimiao Inventor before: Li Zechuan Inventor before: Liu Shaoyu Inventor before: Yuan Shaobo Inventor before: Zhu Yuheng |
|
GR01 | Patent grant | ||
GR01 | Patent grant |