旋翼无人机单目视觉障碍物径向光流检测法

摘要

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 .%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.