Method and system of unmanned plane omnibearing obstacle avoidance based on binocular vision

Abstract

The present invention discloses a method and system of unmanned plane omnibearing obstacle avoidance based on binocular vision. Binocular camera devices are uniformly distributed around an unmanned plane and are configured to shoot in real time. The method comprises: respectively extracting left images and right images collected by each binocular camera device at present; identifying whether there are barriers at the orientation corresponding to each binocular camera or not according to the extracted left images and right images; if there are barriers, determining the distance between the barriers and the unmanned plane according to a binocular vision distance measurement algorithm; determining whether the distance between the barriers and the unmanned plane is smaller than a preset safe distance or not; and if the distance between the barriers and the unmanned plane is smaller than the preset safe distance, and regulating the current movement direction of the unmanned plane to allow the unmanned plane to move far away from the direction of the barriers. The method and system of unmanned plane omnibearing obstacle avoidance based on binocular vision realize the omnibearing automatic obstacle of an unmanned plane based on binocular vision, and are higher in timeliness and lower in power consumption.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and system for omnidirectional obstacle avoidance of unmanned aerial vehicles based on binocular vision. Background technique [0002] With the development of UAV-related technologies, the environment for UAV applications is becoming more and more complex, and the requirements for UAVs to perceive the environment and avoid obstacles are getting higher and higher. [0003] At present, the UAV obstacle avoidance system mostly collects the obstacle avoidance based on binocular vision. The left and right images determine the 3D position of the obstacle, which then enables the drone to avoid the obstacle. However, most of the technical solutions for avoiding obstacles in binocular vision in the prior art are based on general-purpose platforms such as CPU, DSP, and GPU. Because these general-purpose platforms have their own limitations, they cannot adapt to t...

AI Technical Summary

Problems solved by technology

However, most of the technical solutions for avoiding obstacles in binocular vision in the prior art are based on general-purpose platforms such as CPU, DSP, and GPU. Because these general-purpose platforms have their own limitations, they cannot adapt to the large scale required by the technology for avoiding obstacles in binocular vision. The amount of computation can only be achieved in one direction to achieve binocular vision to avoid obstacles, and the real-time performance cannot be guaranteed, which is far from meeting the needs of the development of drones.

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