Pedestrian interaction-friendly monocular obstacle avoidance method

Abstract

The invention discloses a pedestrian interaction-friendly monocular obstacle avoidance method, belongs to the field of unmanned aerial vehicle navigation, and aims to solve the problem of poor obstacle avoidance performance of an indoor unmanned aerial vehicle carrying a monocular camera. The method comprises the steps that an unmanned aerial vehicle uses a monocular camera to collect pictures, the pictures are input into a parallel deep neural network structure of an end-to-end strategy, and the grid structure outputs an optimal course angle as a flight instruction for obstacle avoidance of the unmanned aerial vehicle; the parallel deep neural network structure of the end-to-end strategy is cooperatively completed by combining a monocular camera with a single-line laser radar, and the training process comprises the following steps: step 1, searching an optimal course by utilizing a depth value acquired by the single-line laser radar, labeling a picture acquired by the monocular camera, and establishing a data set; step 2, respectively inputting the data set into a Resnet18 network and a pre-trained YOLO v3 network; and 3, training the parallel deep neural network in the step 2 byusing the data set in the step 1 until convergence.

Description

technical field [0001] The invention relates to a Resnet18 deep neural network combined with a YOLOv3 deep neural network to form a parallel network structure to solve the monocular vision obstacle avoidance technology in the presence of pedestrians, and belongs to the field of unmanned aerial vehicle navigation. [0002] Resnet (Residual Neural Network, residual neural network), YOLO (You Only Look Once: Unified, Real-Time Object Detection only once: unified real-time object detection). Background technique [0003] With the development of the UAV industry, the autonomous navigation of UAVs is the core of many UAV applications, such as in multi-UAV coordination, UAV mapping and UAV indoor tasks, etc. However, due to the small indoor space and high dynamics of personnel, the size of the drones used is limited, so the sensors that can be mounted on the small drones are also very limited (often only equipped with a monocular camera), so relying on limited Sensors enable UAVs ...

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to solve the problem of poor obstacle avoidance performance of indoor drones equipped with monocular cameras, and provide a pedestrian-friendly monocular obstacle avoidance method

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