【摘要】：無人機(jī)在飛行過程中必須能夠檢測(cè)障礙物并且準(zhǔn)確躲避。為使無人機(jī)在飛行過程中更加安全,提出了一種雙目立體視覺和光流相結(jié)合的避障方法。雙目立體視覺通過邊緣索引算法來獲取可靠的視差值,并根據(jù)視差線匯聚角度得到空間深度信息,進(jìn)而辨別物體的遠(yuǎn)近;基于SIFT的光流法能得到障礙物相對(duì)于攝像頭的每一個(gè)時(shí)刻的運(yùn)動(dòng)速度。為了更快地得到更加準(zhǔn)確的位置信息,將立體視覺和光流結(jié)合在一起。實(shí)驗(yàn)結(jié)果表明,該方法能有效提高避障的效率和精度。
[Abstract]:UAVs must be able to detect obstacles and avoid them accurately during flight. In order to make UAV more safe in flight, a new obstacle avoidance method combining binocular stereo vision and optical flow is proposed. Binocular stereo vision obtains reliable visual difference by edge indexing algorithm, and obtains spatial depth information according to the angle of parallax convergence, and then distinguishes the distance and proximity of objects. The optical flow method based on SIFT can get the moving speed of obstacles relative to the camera at every moment. In order to obtain more accurate position information more quickly, stereo vision and optical flow are combined. Experimental results show that this method can effectively improve the efficiency and accuracy of obstacle avoidance.
【作者單位】： 南京航空航天大學(xué)自動(dòng)化學(xué)院;
【基金】：國家自然科學(xué)基金(61673209,61533008) 航空科學(xué)基金(2016ZA52009) 中央高校基本科研業(yè)務(wù)費(fèi)專項(xiàng)資金(NJ20160026) 大學(xué)生創(chuàng)新訓(xùn)練計(jì)劃項(xiàng)目基金
【分類號(hào)】：TP391.41;V279
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本文編號(hào)：2245386