Acta Geodaetica et Cartographica Sinica >

2017 , Vol. 46 >Issue 9: 1107 - 1115

DOI: https://doi.org/10.11947/j.AGCS.2017.20160510

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

  • ZHANG Xiaodong ,
  • HAO Xiangyang ,
  • SUN Guopeng ,
  • XU Yali
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  • 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 date: 2016-10-24

  Revised date: 2017-05-31

  Online published: 2017-10-12

Supported by

Information Engineering University "2110 Project" Construction Project (No. 510087)

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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

Cite this article

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 . DOI: 10.11947/j.AGCS.2017.20160510

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