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

Claim 4:
5. The pose estimation method for an unmanned aerial vehicle based on point, line and plane feature fusion according to claim 4, characterized in that the step S4 comprises:
dividing the plane parameter space (PPS) as 64*64 small cubes, finding a cube set Qpps, which includes a point count exceeding a set threshold thpps in a cube interval, by traversing the series of cubes, then using any cube C therein as eight sub-nodes of the inverse octree respectively by traversing the cubes in Qpps, checking whether a corresponding seven sub-nodes are all in the set Qpps according to the octree, and if so, integrating the eight nodes into one big node Ciup(i=1,2, . . . 8), and updating the parameter of the big node by using the parameter cell={mcellpps,Scellpps,Ncell} of the eight nodes, if there are multiple groups of nodes in cube C that satisfy an integration condition, performing a determination according to a number of groups that satisfy a plurality of requirements, if the number of groups is equal to 8 groups, then recombining the eight big nodes into a larger node Cup2, otherwise, only taking a big node Cmaxup=max(Ciup) having the maximum number of data points Ncell, regarding other nodes as not being integrated, inserting the integrated nodes into the tail of the set Ncell, and removing the node C from the set Qpps; after the completion of traversal, regarding the remaining elements of the set Qpps as a corresponding cartesian space having a corresponding plane, the plane features of each plane being represented as Pπ=(π,mpps,SppsNpps), wherein π=[nT,d]T location center and mpps is obtained by means of the inverse mapping.