Abstract: The present invention provides a pose estimation method for an unmanned aerial vehicle based on point, line and plane feature fusion, the method comprises the following steps: S1 extracting an RGB image and a depth map by using an RGB-D camera; S2 constructing a plane parameter space (PPS) according to the depth map, and mapping the depth map from a Cartesian space to the plane parameter space (PPS); S3 constructing an inverse octree structure, comprising: reversely constructing cell nodes for the plane parameter space (PPS) according to an octree rule, and for each cell node, performing fitting by using Gaussian distribution; S4 extracting a plane feature, comprising: extracting the plane feature on the basis of degree of feature extraction algorithm of the inverse octree; S5 extracting a linear feature, comprising: extracting a linear feature on the RGB image by using LSD algorithm detection.

Abstract: The present invention provides a pose estimation method for an unmanned aerial vehicle based on point, line and plane feature fusion, the method comprises the following steps: S1 extracting an RGB image and a depth map by using an RGB-D camera; S2 constructing a plane parameter space (PPS) according to the depth map, and mapping the depth map from a Cartesian space to the plane parameter space (PPS); S3 constructing an inverse octree structure, comprising: reversely constructing cell nodes for the plane parameter space (PPS) according to an octree rule, and for each cell node, performing fitting by using Gaussian distribution; S4 extracting a plane feature, comprising: extracting the plane feature on the basis of degree of feature extraction algorithm of the inverse octree; S5 extracting a linear feature, comprising: extracting a linear feature on the RGB image by using LSD algorithm detection.

Abstract: An access request processing method for a content delivery system includes obtaining a file access request; judging, according to a preset unpopular file judgment policy, whether a file corresponding to the file access request is an unpopular file; in response to determining that the file is an unpopular file, judging whether bandwidth usage state information obtained in advance conforms to a preset judgment policy for full use of bandwidth; and triggering, in response to determining that the bandwidth usage state information conforms to the judgment policy, an unpopular file management node to respond to the file access request. The unpopular file management node stores the file corresponding to the file access request.

Abstract: An access request processing method for a content delivery system includes obtaining a file access request; judging, according to a preset unpopular file judgment policy, whether a file corresponding to the file access request is an unpopular file; in response to determining that the file is an unpopular file, judging whether bandwidth usage state information obtained in advance conforms to a preset judgment policy for full use of bandwidth; and triggering, in response to determining that the bandwidth usage state information conforms to the judgment policy, an unpopular file management node to respond to the file access request. The unpopular file management node stores the file corresponding to the file access request.