基于动态视觉传感器的无人机目标检测与避障

Object detection and obstacle avoidance based on dynamic vision sensor for UAV

针对无人机在动态环境中感知动态目标与躲避高速动态障碍物,提出了基于动态视觉传感器的目标检测与避障算法。设计了滤波方法和运动补偿算法,滤除事件流中背景噪声、热点噪声及由相机自身运动产生的冗余事件;设计了一种融合事件图像和RGB图像的动态目标融合检测算法,保证检测的可靠性。根据检测结果对目标运动轨迹进行估计,结合障碍物运动特点和无人机动力学约束改进速度障碍法躲避动态障碍物。大量仿真试验、手持试验及飞行试验验证了所提算法的可行性。

UAVs face a significant problem while trying to avoid moving objects while in flight.In order to detect and avoid high-speed dynamic obstacles in a dynamic environment,an algorithm for target detection and obstacle avoidance based on a dynamic vision sensor was designed.Firstly,we propose an event filter method and to filter the background noise,hot noise,and the method preserves the asynchrony of events.The motion compensation algorithm is designed to filter redundant events caused by the camera’s own motion in the event stream.For dynamic object detection,a fusion detection algorithm of event image and RGB image is designed,it has higher robustness in a highly dynamic environment.Finally,to avoid dynamic obstacles combined with the features of obstacle movement and UAV dynamic restrictions,finally,we enhanced the velocity obstacle method and estimated the target trajectory in accordance with the detection results.A large number of simulation tests,hand-held tests,and flight tests are carried out to verify the feasibility of the algorithm.