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

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。

Binocular stereo vision technology is incorporated into 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.