Visual localization and obstacle avoidance method and system for unmanned plane

A visual positioning and unmanned aerial vehicle technology, applied in the field of communication, can solve problems such as difficult extraction and blurred graphics, and achieve the effects of accurate calculation, high real-time performance, and low algorithm complexity

Active Publication Date: 2012-10-03
TSINGHUA UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Although computer vision has been developed for decades and some algorithms have been quite mature, drones, as a brand-new application platform, have many practical problems to be solved, such as blurred graphics caused by flight vibration, The vision processing algorithm needs to have

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  • Visual localization and obstacle avoidance method and system for unmanned plane
  • Visual localization and obstacle avoidance method and system for unmanned plane
  • Visual localization and obstacle avoidance method and system for unmanned plane

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Embodiment Construction

[0042] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0043] These and other aspects of embodiments of the invention will become apparent with reference to the following description and drawings. In these descriptions and drawings, some specific implementations of the embodiments of the present invention are specifically disclosed to represent some ways of implementing the principles of the embodiments of the present invention, but it should be understood that the scope of the embodiments of the present invention is not limited by this limit. On the contrary, the embodiments of the present...

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Abstract

The invention provides a visual localization and obstacle avoidance method and a visual localization and obstacle avoidance system for an unmanned plane. The method comprises the following steps that an unmanned plane-mounted camera acquires visual sensing information of the unmanned plane, and acquires inertial navigation data by an inertia measuring unit of the unmanned plane; a remote control system receives visual sensing information and inertial navigation data, and obtains obstacle information in a flight environment where the unmanned plane is positioned according to the visual sensing information; an external camera performs visual localization on the unmanned plane to obtain the position information of the unmanned plane; the remote control system plans the flight path of the unmanned plane according to the obstacle information and the position information of the unmanned plane, and generates a flight control command according to the inertial navigation data and the flight path; and the unmanned plane receives the flight control command to control the unmanned plane to avoid obstacles. According to the embodiment of the invention, the problems of visual localization and obstacle avoidance of the unmanned plane are solved, and the unmanned plane has the capability of completing visual obstacle avoidance by using the plane-mounted camera and a positioning camera.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to a method and system for visual positioning and obstacle avoidance of an unmanned aerial vehicle. Background technique [0002] Due to the development of microelectronics technology and sensor technology in recent years, the realization of fully autonomous unmanned aerial vehicles has become possible. At present, the key issues of autonomous aircraft design focus on information acquisition, navigation and remote control system design. For traditional high-altitude flying drones, the combination of GPS and inertial measurement unit (IMU) can obtain the corresponding position, attitude, altitude, and heading information to achieve flight control and waypoint navigation. However, for micro-UAVs that are mainly used in low-altitude and near-earth environments, the flight environment is much more complicated, so the aircraft must not only estimate its own pose, but also perceiv...

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Application Information

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IPC IPC(8): G05D1/10G01C11/00
Inventor 戴琼海刘慧
Owner TSINGHUA UNIV
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