| 主权项 |
1. An indoor monitoring method which is applicable to control a micro aircraft in an indoor space, the micro aircraft comprising: an aircraft body, an image capturing unit, a storage unit, a positioning unit, a processing unit, a transmitting unit and a power supply unit, and the method comprising:
reading a 3D indoor map stored in the storage unit, wherein the 3D indoor map comprises multiple default images and each default image comprises at least one target; driving the aircraft body to fly in the indoor space according to a default flying path of the indoor map; capturing multiple images in the indoor space in an order of a capturing sequence by the image capturing unit, wherein each captured image comprises at least one feature point; comparing each default image with each captured image in pairs in the order of the capturing sequence; and calculating an offset distance between the aircraft body and the at least one feature point and correcting a position of the aircraft body on the default flying path according to the offset distance when the at least one target of the default image matches the at least one feature point of the captured image in each pair, wherein the processing unit applies 3D space information generated by the positioning unit to further correct the position of the aircraft body on the default flying path. |
