Binocular Camera Layout for UAV Omnidirectional Sensing
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Solution Overview
Problem
Unmanned aerial vehicles (UAVs) equipped with binocular cameras face limitations in achieving omni-directional sensing due to narrow viewing angles and sensing blind areas caused by camera obstruction, despite the potential of binocular vision sensors for three-dimensional coordinate restoration.
Innovation Solution
Employing five binocular cameras positioned at different orientations on the UAV, including one at the front, two inclined upward on the sides, one at the lower portion, and one at the rear, with coordinated disparity map generation, mask view construction, and conversion to world coordinate systems to create a comprehensive 3D map.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If six binocular cameras are equipped on the UAV, then the sensing coverage is improved, but the device complexity and occlusion problems worsen
Solution Approach 1:
The patent merges the functions of multiple cameras by strategically positioning five binocular camera units to collectively cover six orientations (front, rear, left, right, upper, lower). This combining approach achieves comprehensive sensing coverage while reducing the total number of camera units needed compared to traditional six-camera configurations, thereby simplifying the overall system.
Solution Approach 2:
The patent introduces spatial dimensionality by positioning camera units at different orientations and heights on the UAV body. By distributing cameras across multiple spatial dimensions (front, rear, left, right, upper, lower positions), the system achieves omnidirectional coverage without requiring a proportional increase in camera quantity, thus reducing system complexity.
2Area of stationary object
If binocular cameras are positioned to cover more orientations, then the sensing blind area is reduced, but the occlusion by UAV body increases
Solution Approach 1:
The patent segments the sensing task by dividing the omnidirectional coverage into six distinct orientations, each handled by a dedicated binocular camera unit positioned at the corresponding location on the UAV. This segmentation allows each camera to focus on a specific direction, minimizing mutual occlusion while collectively achieving complete coverage.
Solution Approach 2:
The patent utilizes three-dimensional spatial positioning to mount camera units at various heights and angles on the UAV body. By distributing cameras across vertical and horizontal dimensions, the system achieves overlapping field-of-view coverage that compensates for occlusions, ensuring that no sensing blind areas exist despite the UAV body blocking direct line-of-sight for individual cameras.
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
This configuration enables omni-directional sensing with reduced blind areas by utilizing the cameras' inclined positioning to cover six orientations and minimize occlusions, enhancing obstacle avoidance and path planning capabilities.
Implementation Method 1
the binocular vision sensors (i.e. binocular cameras) can directly restore the three-dimensional coordinates of the measured point because of the stereo vision information generated thereby based on the disparity principle
Data Source
AI summary
A binocular vision-based environment sensing method and apparatus, is applied to an unmanned aerial vehicle. The unmanned aerial vehicle is provided with five binocular cameras. The first binocular camera is disposed at the front portion of the fuselage of the unmanned aerial vehicle. The second binocular camera is inclined upward and disposed between the left side of the fuselage and the upper portion of the fuselage of the unmanned aerial vehicle. The third binocular camera is inclined upward and disposed between the right side of the fuselage and the upper portion of the fuselage of the unmanned aerial vehicle. The fourth binocular camera is disposed at the lower portion of the fuselage of the unmanned aerial vehicle. The fifth binocular camera disposed at the rear portion of the fuselage of the unmanned aerial vehicle. The method can simplify an omni-directional sensing system while reducing the sensing blind area.