Simultaneous localization and mapping (SLAM) method for unmanned aerial vehicle based on mixed vision odometers and multi-scale map

Abstract

The invention discloses a simultaneous localization and mapping (SLAM) method for an unmanned aerial vehicle based on mixed vision odometers and a multi-scale map, and belongs to the technical field of autonomous navigation of unmanned aerial vehicles. According to the SLAM method, an overlooking monocular camera, a foresight binocular camera and an airborne computer are carried on an unmanned aerial vehicle platform; the monocular camera is used for the visual odometer based on a direct method, and binocular camera is used for the visual odometer based on feature point method; the mixed visual odometers conduct information fusion on output of the two visual odometers to construct the local map for positioning, and the real-time posture of the unmanned aerial vehicle is obtained; then theposture is fed back to a flight control system to control the position of the unmanned aerial vehicle; and the airborne computer transmits the real-time posture and collected images to a ground station, the ground station plans the flight path in real time according to the constructed global map and sends waypoint information to the unmanned aerial vehicle, and thus autonomous flight of the unmanned aerial vehicle is achieved. Real-time posture estimation and environmental perception of the unmanned aerial vehicle under the non-GPS environment are achieved, and the intelligent level of the unmanned aerial vehicle is greatly increased.

Description

technical field [0001] The invention relates to a SLAM method for an unmanned aerial vehicle based on a hybrid visual odometer and a multi-scale map, and belongs to the technical field of autonomous navigation of an unmanned aerial vehicle. Background technique [0002] With the development of UAV (Unmanned Aerial Vehicle, UAV) technology, various types of UAVs have been widely used, and UAVs have begun to play an increasingly important role in the industrial field, and UAVs are no longer It is a simple aircraft model aircraft. How to perceive the environment and its own state information has become one of the key technologies of UAVs, which is the problem of simultaneous localization and mapping (SLAM) in the field of robotics. [0003] Compared with ground mobile robots, UAVs have limited payload and have high requirements for real-time performance. Traditional lidar sensors are not suitable for UAV platforms due to their heavy weight and susceptibility to light effects....

AI Technical Summary

Problems solved by technology

[0004] Considering that UAVs have relatively high requirements for stability, real-time, and accuracy, neither the traditional feature point method nor the direct method can well meet the positioning requirements of UAVs. It is necessary to design a stable and accurate visual odometry method

At the same time, map construction requires relatively high computing power and is not suitable for direct processing on UAVs. It needs to rely on ground stations with powerful computing power.

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