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

Active Publication Date: 2021-01-26
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

This method has many disadvantages. First, the positioning accuracy of GPS reaches the meter level, and the accuracy is too low. This will cause the quadcopter to easily deviate from the planned path during flight; then pre-load the offline map and use the offline map for path planning. , so that the quadcopter can only achieve autonomous obstacle avoidance and navigation in static scenes, and the application scenarios are greatly limited

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

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Embodiment

[0053] For the convenience of description, the relevant technical terms appearing in the specific implementation are explained first:

[0054] Offboard: external mode;

[0055] ORB (Oriebted Fast and Rotated BRIEF): an algorithm for fast feature point extraction and description;

[0056] ICP (Iterative Closest Point): iterative closest point algorithm;

[0057] BA (Bundle Adjustment): bundle adjustment method;

[0058] Bounding Box: bounding box;

[0059] AABB (Axis-aligned bouding box): The smallest hexahedron that surrounds an object and is parallel to the coordinate axis;

[0060] Max-min: A bounding volume is uniquely defined by the upper right corner and the lower left corner;

[0061] RRT*(Rapid-exploration Random Tree Star): rapid exploration of random tree algorithm;

[0062] figure 1 It is a flow chart of the autonomous obstacle avoidance and navigation method of the quadcopter based on the binocular camera of the present invention.

[0063] The autonomous obst...

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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.

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

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10G01C21/20
CPCG01C21/20G05D1/101
Inventor 李瑞史莹晶邓质杨峰闫晓东
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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