Fig. 1. Photovoltaic power station panoramic image and drone route planning map. (a) Panoramic image of photovoltaic power station taken by drone; (b) drone route planning map

Fig. 2. Flowchart of automatic positioning method for photovoltaic panel

Fig. 3. Comparison of photovoltaic panel segmentation effects. (a) Detection results based on YOLOv8-obb; (b) detection results based on YOLOv8

Fig. 4. Projection relationship between objects and images in similarity transformation

Fig. 5. Image plane coordinate system o-xy andpixel coordinate system o'-x'y' in different heading directions. (a) Heading north; (b) heading south; (c) heading east; (d) heading west

Fig. 6. Results of similarity transformation and distribution of backprojection difference

Fig. 7. Loss distribution of x0',y0' near image center and positioning results of candidate points. (a) Distribution of losses and candidate points near the image center; (b) optimization range of x0',y0' and distribution of positioning results based on candidate points projected into the image

Fig. 8. Parameter verification process through overlapping images

Fig. 9. Comparison of positioning results. (a) Incorrect positioning result; (b) correct positioning result