The invention relates to the technical field of unmanned aerial vehicle
obstacle avoidance, and discloses an unmanned aerial vehicle autonomous
obstacle avoidance method based on
deep learning and
binocular vision. According to the method,
original data streams of a left view and a right view are acquired through a
binocular vision acquisition terminal, and stereoscopic vision feature representation is extracted through parallel convolutional coding branches of a deep neural
network model; inputting into a three-dimensional space reconstruction module to generate a dense
depth map and an obstacle initial position coordinate set; the dynamic obstacle analysis engine calculates a dynamic
threat evaluation index by combining real-time flight attitude parameters of the unmanned aerial vehicle, and the space-
time trajectory prediction model calculates future moving path probability distribution of the obstacle according to the dynamic
threat evaluation index; and fusing the distribution with preset
navigation path planning data to generate a three-dimensional
obstacle avoidance course correction vector, converting the three-dimensional obstacle avoidance course correction vector into a flight control
instruction set, and downloading the flight control
instruction set to an execution module. According to the method, the reliability and adaptability of autonomous obstacle avoidance of the unmanned aerial vehicle in a complex dynamic environment are improved, and a powerful guarantee is provided for safe navigation of the unmanned aerial vehicle.