Above-ground building recognition method and navigation method combining laser and infrared

Patent metadata

Field	Value
Publication number	US-9817107-B2
Application number	US-201515106700-A
Country	US
Kind code	B2
Filing date	Feb 10, 2015
Priority date	Dec 30, 2014
Publication date	Nov 14, 2017
Grant date	Nov 14, 2017

Abstract

The present invention provides an above-ground building recognition method, including the following steps: (1) taking an infrared image of the ground from the air; (2) performing detection and positioning in the infrared image to determine a suspected target; (3) aiming at the suspected target to perform laser imaging; (4) performing range gating on a laser image to filter out foreground and background interference; and (5) extracting a shape feature of the suspected target from the laser image with interference filtered out, and taking the shape feature as a target matching element to perform matching with a target shape feature template, so as to recognize the target. In the method of the present invention, laser imaging is integrated into infrared imaging target positioning, so that an advantage of a large range of infrared imaging is utilized, and three-dimensional range information of laser imaging is also utilized, thereby effectively improving the precision of positioning a building.

First claim

The invention claimed is:

1. An above-ground building recognition method, comprising the following steps:
(1) taking an infrared image of the ground from the air;
(2) performing detection and positioning in the infrared image to determine a suspected target;
(3) aiming at the suspected target to perform laser imaging;
(4) performing range gating on a laser image to filter out foreground and background interference; and
(5) extracting a shape feature of the suspected target from the laser image with interference filtered out, taking the shape feature as a target matching element to perform matching with a target shape feature template, and fusing a matching result and a local contrast feature of the suspected target in infrared imaging, so as to recognize the target, wherein a specific implementation manner of step (5) is that:
calculating a ratio of a local contrast value of the suspected target in infrared imaging to a local contrast threshold, wherein the ratio is marked as a local contrast a of the suspected target;
calculating a similarity b between the target matching element and the target shape feature template; and
calculating a target recognition probability p=k1*a+k2*b and a weight coefficient k1+k2=1, wherein k1≦k2, wherein
a target having the maximum target recognition probability is a target recognition result.

2. The above-ground building recognition method according to claim 1 , wherein a shape feature of a region of the suspected target comprises an altitude-width ratio, a rectangularity, a longitudinal symmetry, and a region main axis direction.

3. An aircraft navigation method in which the above-ground building recognition method according to claim 1 is applied, wherein the method is specifically:
acquiring a location of a building target by using the above-ground building recognition method according to claim 1 ;
constructing a building target coordinate system by taking the location of the building target as an origin;
acquiring an elevation angle γ and a heading angle φ of an aircraft at a current moment t, and calculating coordinates (x t , y t , z t ) of the aircraft in the building target coordinate system at the moment t: x t =L cos γ sin φ, y t =L cos γ cos φ, and z t =L sin γ, wherein L is a distance between the aircraft and the building target at the coordinate system at the moment moment t; and
converting the coordinates (x t , y t , z t ) of the aircraft in the building target coordinate system into a location in a geodetic system.

Assignees

• Univ Huazhong Science Tech

Inventors

• Zhang Tianxu
• Yao Heng
• Jiang Peng
• Fan Sufei
• Chen Yimeng
• Ma Wenxuan
• Hao Longwei
• Yang Zhihui

Classifications

• G01S17/89

  for mapping or imaging · CPC title

• G01S17/933

  of aircraft or spacecraft · CPC title

• G01S17/86

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• G01S17/87 Primary

  Combinations of systems using electromagnetic waves other than radio waves · CPC title

• G01S17/18

  wherein range gates are used · CPC title