旋翼无人机单目视觉障碍物径向光流检测法

doi:10.11947/j.AGCS.2017.20160510

测绘学报 ›› 2017, Vol. 46 ›› Issue (9): 1107-1115.doi: 10.11947/j.AGCS.2017.20160510

旋翼无人机单目视觉障碍物径向光流检测法

张小东^1,2, 郝向阳², 孙国鹏², 徐亚丽²

1. 西安测绘总站, 陕西西安 710000;
2. 信息工程大学导航与空天目标工程学院, 河南郑州 450000

收稿日期:2016-10-24 修回日期:2017-05-31 出版日期:2017-09-20 发布日期:2017-10-12
作者简介:张小东(1991-),男,硕士,研究方向为视觉导航与视觉检测。E-mail:1228024443@qq.com
基金资助:
信息工程大学“2110工程”建设项目（510087）

Monocular Vision Obstacle Detection Method Based on Radial Optical Flow for Rotor UAV

ZHANG Xiaodong^1,2, HAO Xiangyang², SUN Guopeng², XU Yali²

1. Xi'an Division of Surveying and Mapping, Xi'an 710000, China;
2. Information Engineering University, School of Navigation and Aerospace Engineering, Zhengzhou 450000, China

Received:2016-10-24 Revised:2017-05-31 Online:2017-09-20 Published:2017-10-12
Supported by:
Information Engineering University "2110 Project" Construction Project (No. 510087)

摘要/Abstract

摘要： 针对旋翼无人机在室外复杂环境下传统金字塔LK光流法检测障碍物准确性不高，适应性差的问题，提出了一种基于径向光流的单目视觉自主实时障碍物检测方法。该方法通过融合金字塔LK光流与切向光流求解径向光流，并基于径向光流设计了一种新的障碍物判定策略检测障碍物。试验表明，与传统金字塔LK光流法相比，在不增加算法复杂度的情况下，该方法具有更高的准确性和更强的适应性，可满足工程实践中无人机自主避障要求。

关键词: 旋翼无人机, 单目视觉, 障碍物检测, 径向光流, 金字塔LK光流, 切向光流

Abstract: To solve the problem of traditional Pyramid LK optical flow algorithm's poor accuracy and adaptability for rotor UAV to detect obstacle in complex outdoor environment, a monocular autonomous real-time obstacle detection method based on radial optical flow is proposed. In the optical flow, the radial optical flow is computed by fusing Pyramid LK optical flow with tangential optical flow, and a new obstacles decision strategy to detect obstacles based on the radial optical flow is put forward. Experimental results show that without increasing the complexity of algorithm, the proposed method can get a higher accuracy and better adaptability than traditional Pyramid LK algorithm, which can meet the requirements of UAV autonomous obstacle avoidance.

Key words: rotor UAV, monocular vision, obstacle detection, radial optical flow, Pyramid LK optical flow, tangential optical flow

中图分类号:

P235

张小东, 郝向阳, 孙国鹏, 徐亚丽. 旋翼无人机单目视觉障碍物径向光流检测法[J]. 测绘学报, 2017, 46(9): 1107-1115.

ZHANG Xiaodong, HAO Xiangyang, SUN Guopeng, XU Yali. Monocular Vision Obstacle Detection Method Based on Radial Optical Flow for Rotor UAV[J]. Acta Geodaetica et Cartographica Sinica, 2017, 46(9): 1107-1115.

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旋翼无人机单目视觉障碍物径向光流检测法

Monocular Vision Obstacle Detection Method Based on Radial Optical Flow for Rotor UAV

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