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

Claim 1:
2. The pose estimation method for an unmanned aerial vehicle based on point, line and plane feature fusion according to claim 1, characterized in that the step S2 comprises: for any point p of the depth map in the Cartesian space, there being a plane π=[nT,d]T, which satisfies π=[nT,d]T, wherein nT=[nx,ny,nz]T is a normal vector of the plane, d is the distance from the origin point of a coordinate system to the plane; a mapping relationship between the plane parameter space (PPS) and the Cartesian space is as follows:, {
  
   
    
     
      
       θ
       
        P
        ⁢
        P
        ⁢
        S
       
      
      =
      
       arccos
       ⁡
       (
       
        n
        z
       
       )
      
     
    
   
   
    
     
      
       ϕ
       
        P
        ⁢
        P
        ⁢
        S
       
      
      =
      
       arctan
       ⁢
       2
       ⁢
       
        (
        
         
          n
          y
         
         ,
         
          n
          x
         
        
        )
       
      
     
    
   
   
    
     
      
       d
       
        P
        ⁢
        P
        ⁢
        S
       
      
      =
      d
     
    
   
  
 

wherein [θPPS,φPPS,dPPS] is the three axes of PPS, [nx,ny,nz, d] is the normal vector of the plane and the distance from the plane to the origin point of the coordinate system in Cartesian space as shown above; then the coordinates of the point p in the PPS can be expressed as p=[θPPS,φPPS,dPPS]T.