A quadcopter autonomous obstacle avoidance and navigation method based on binocular camera

A quadcopter and binocular camera technology, applied in the field of quadcopter autonomous obstacle avoidance and navigation based on binocular cameras, can solve the problems of limited application scenarios, quadcopter easy to deviate from the planned path, and low accuracy , to achieve the effect of improving execution speed, good positioning accuracy, and reducing storage space
CN108776492BActive Publication Date: 2021-01-26UNIV OF ELECTRONICS SCI & TECH OF CHINA
10 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Patents(China)
Current Assignee / Owner
UNIV OF ELECTRONICS SCI & TECH OF CHINA
Publication Date
2021-01-26

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses an autonomous obstacle avoidance and navigation method for a quadcopter based on a binocular camera. The matching point pairs in two adjacent frames of images are processed through an ICP algorithm, so that the quadcopter can achieve precise positioning, and at the same time generate an image that can accurately characterize the surroundings. A dense map of the environment. Then convert the dense map into an octree map suitable for collision detection algorithms, and obtain the obstacle constraints required by the improved RRT* algorithm through the feedback results of the collision detection between the quadcopter and the octree map, and then real-time Plan possible paths. When the quadcopter flies along the planned path, it can successfully avoid obstacles and reach the preset end point.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention belongs to the technical field of four-axis aircraft, and more specifically relates to a method for autonomous obstacle avoidance and navigation of a four-axis aircraft based on a binocular camera. Background technique

[0002] In recent years, the application of quadcopters in various fields of life and production has shown a flourishing attitude, such as aerial photography, search and rescue, monitoring, logistics, etc. However, with the continuous development of the quadcopter application field and the continuous increase of its flight activities, it will inevitably cause great safety hazards to other aircraft in the airspace environment and third-party targets on the ground. Therefore, how to achieve efficient and accurate autonomous obstacle avoidance and navigation for quadcopters has become one of the key challenges restricting the development of quadcopters.

[0003] At present, some research units plan the path by loading offlin...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More