Unmanned aerial vehicle obstacle avoidance method based on binocular vision system

Abstract

The invention discloses an unmanned aerial vehicle obstacle avoidance method based on a binocular vision system. A binocular vision system acquires image information to obtain depth map information; with an ecological method, denoising is performed on the depth map by combining an exponential weighted moving average algorithm; an obstacle contour is extracted according to a threshold segmentationalgorithm based on region growing and fitting is performed by using a rectangular box to obtain a parallax value; an obstacle distance is calculated by the similar triangle theorem; the obtained distance is transmitted to a flight controller and is compared with a preset threshold distance, different commands are sent out, and then an unmanned aerial vehicle completes obstacle avoidance at accurate timing. According to the invention, on the basis of combination of the morphological method with the exponential weighted moving average algorithm, the denoising degree of the depth map is increased, the calculation accuracy of the distance between the unmanned aerial vehicle and the obstacle is improved, the fast visual obstacle avoidance capability of the unmanned aerial vehicle is enhanced, and the accuracy is greatly improved by being compared with the existing algorithms.

Description

technical field [0001] The invention relates to the field of UAV vision and digital image processing, in particular to an UAV obstacle avoidance method based on a binocular vision system. Background technique [0002] With the continuous deepening of science and technology, unmanned machines have become the current trend, and the market continues to expand. UAVs often perform some special tasks. higher requirement. The vision-based control system is characterized by simple structure, low cost, high cost performance, etc. At the same time, in comparison, the binocular vision system obtains more information than the monocular vision system, and because the binocular vision system can obtain The images are coplanarly processed to obtain distortion-free and line-aligned images. At this time, the measurement accuracy is higher than that of the monocular system, which is conducive to the accurate obstacle avoidance of the UAV. The binocular vision system is currently used in mach...

AI Technical Summary

Problems solved by technology

[0006] The present invention overcomes the deficiencies in the prior art. On the basis of depth image processing, a UAV obstacle avoidance method based on a binocular vision system is proposed. The distance result is inaccurate, leading to the problem of inaccurate drone control

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