Design of Obstacle Avoidance System for Micro-UAV Based on Binocular Vision

摘要

A hardware system based on binocular vision sensor was designed for the detection and obstacle avoidance of micro-UAV in indoor environment. Using the two consumer-level cameras installed on the UAV from the different locations to obtain image information, by the FPGA combined with binocular vision algorithm to deal with two images after the realization of the three-dimensional depth of the space environment perception, access to the current indoor environment, effectively get the current three-dimensional environmental information. The micro-UAV has the ability to detect and escape obstacles in front of the flight path.