基于双目立体视觉避障的四旋翼飞行器设计

Design of Quadcopter Based on Binocular Stereo Vision Obstacle Avoidance

摘要:

将双目立体视觉技术融入四旋翼飞行器设计,通过两个在相对水平位置上的单目相机模拟人的眼睛,在双目立体视觉测距系统上经过图像采集、双目矫正、双目立体匹配等步骤得到视差结果,计算出深度信息并进行三维重构,实现四旋翼飞行器一键起飞、定高、定点巡航、悬停及自主避障。实验结果表明,所设计的飞行器响应速度快,跟随性能好,定位精度较高。

Abstract:

Binocular stereo vision technology is incorporatedSinto the design of Quadcopter, human eyes is simulated by two monocular cameras at a relative horizontal position, the parallax results are achieved in the binocular stereo vision ranging system by image acquisition, binocular correction, binocular stereo matching,etc. So the depth information is computed and three-dimensional is reconstructed. Then One-key take-off, set high, fixed-point cruise, hovering and autonomous obstacle avoidance are realized. Experimental results showed that the designed aircraft has fast response, good tracking performance and high positioning accuracy.