Patent ID: 11875534
Assignee: GUANGDONG UNIVERSITY OF TECHNOLOGY
Field: Computer technology (Electrical engineering)
Classification: CPC G  B  Y | IPC B  G

Claim 2:
3. The pose estimation method for an unmanned aerial vehicle based on point, line and plane feature fusion according to claim 2, characterized in that the step S2 further comprises: in order to avoid mapping to a singular point nT=[0,0,±1]T during mapping, before mapping, analyzing and calculating a common rotation matrix R in all plane by using a principal component, and then when mapping from the Cartesian space to the PPS, firstly left multiplying the normal vector N of the plane with the matrix R, and similarly, when the PPS is mapped to the Cartesian space, left multiplying the point p in the PPS with RT, and then performing inverse mapping.