Target positioning method and device, and unmanned aerial vehicle

A target positioning device, applied to an unmanned aerial vehicle, the unmanned aerial vehicle comprising an image acquisition device and a depth sensor, and the target positioning device comprising:

• a processor configured to acquire a target image collected by an image acquisition device and acquire the position information of a target in the target image according to the target image;
• acquire original point clouds of an environment in front of the unmanned aerial vehicle collected through the depth sensor;
• acquire the point clouds corresponding to the target in the original point clouds according to the original point clouds and the position information of the target in the target image;
• and
• acquire the position information of the target in a three-dimensional space according to the point clouds corresponding to the target;
• project the original point clouds to a plane where the target image is located to acquire the coordinates of the original point clouds in the plane where the target image is located;
• and
• determine the original point clouds of which the coordinates fall into a minimum bounding box in the original point clouds as the point clouds corresponding to the target.

A unmanned aerial vehicle, comprising

• a fuselage;
• an arm, connected to the fuselage;
• a power unit, arranged on the arm and configured to provide power required by the flight of the unmanned aerial vehicle;
• a depth sensor, arranged on the fuselage and configured to acquire original point clouds of an environment in front of the unmanned aerial vehicle;
• an image acquisition device, arranged on the fuselage and configured to acquire a target image and acquire the position information of a target in the target image according to the target image;
• and
• a visual chip, arranged on the fuselage, both the depth sensor and the image acquisition device being in communication connection with the visual chip, and
• the visual chip being configured to:
• acquire the point clouds corresponding to the target in the original point clouds according to the original point clouds and the position information of the target in the target image;
• and
• acquire the position information of the target in a three-dimensional space according to the point clouds corresponding to the target;
• project the original point clouds to a plane where the target image is located to acquire the coordinates of the original point clouds in the plane where the target image is located;
• and
• determine the original point clouds of which the coordinates fall into a minimum bounding box in the original point clouds as the point clouds corresponding to the target.