Binocular UAV Obstacle Detection Using Projected Laser Texture
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Solution Overview
Problem
Existing obstacle detection systems for unmanned aerial vehicles, particularly those using binocular vision, face challenges in environments with weak or repeated textures and low light conditions, leading to reduced detection precision and stability.
Innovation Solution
Incorporating a laser texture component that emits a laser texture within the binocular visual angle range of the binocular photographing component to enhance scene texture, improving binocular stereo matching precision without altering the original binocular matching algorithm or structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of stationary object
If binocular vision obstacle detection is used to achieve large detection distance, then detection range is improved, but detection precision deteriorates in weak texture or repeated texture environments
Solution Approach 1:
A laser texture component is introduced as an intermediary device between the binocular camera and the obstacle. This component projects laser textures onto obstacles in the detection zone, serving as a mediator that enhances the visual features of obstacles with weak or repeated textures, thereby improving binocular stereo matching precision without altering the original binocular matching algorithm
Solution Approach 2:
The system changes the visual parameters of the obstacle by projecting laser textures onto it. This transforms the obstacle's surface characteristics from weak or repeated textures to distinct laser texture patterns, making it easier for the binocular vision system to detect and match features accurately
2Reliability
If binocular vision obstacle detection is used, then detection capability is improved, but detection stability deteriorates in low light conditions
Solution Approach 1:
The laser texture component acts as an active illumination intermediary that projects structured light patterns onto obstacles regardless of ambient light conditions. This ensures consistent obstacle visualization and maintains binocular stereo matching performance in low light environments without requiring changes to the binocular vision algorithm
Solution Approach 2:
The system performs preliminary action by projecting laser textures onto obstacles before the binocular camera captures images. This pre-illumination of the detection scene with structured light patterns ensures that obstacles are clearly visible and feature-rich before the actual detection process begins, improving stability in varying light conditions
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enhances obstacle detection precision and enables binocular sensing in low-light conditions, improving the stability and accuracy of obstacle detection for unmanned aerial vehicles.
Implementation Method 1
starting the laser texture component, to emit a laser texture
Data Source
AI summary
Embodiments of the present invention relate to an obstacle detection method and apparatus and an unmanned aerial vehicle. The unmanned aerial vehicle includes a binocular photographing component and a laser texture component. The method includes: determining to start the laser texture component; starting the laser texture component, to emit a laser texture; obtaining a binocular view that is collected by the binocular photographing component and that includes the laser texture, and setting the binocular view that includes the laser texture as a target binocular view; and performing obstacle detection based on the target binocular view. In the above technical solutions, according to the embodiments of the present invention, precision of binocular stereo matching can be improved without changing an original binocular matching algorithm and structure, thereby improving precision of obstacle detection. In addition, the unmanned aerial vehicle can perform binocular sensing while flying at night.