基于四旋翼无人机的单目建模系统

摘要

为了实现四旋翼无人机的自主飞行、环境单目稠密重建与即时导航功能，文中设计了该单目建模导航系统。飞行控制器采用MPU6050六轴传感器采集六轴信号，通过算法拟合出飞行器姿态，然后通过STM32F103RBT6芯片分别控制4个电机驱动模块，即时通过PID算法输出PWM值进行调速来实现飞行姿态的稳定和改变。建模系统通过控制GPS模块，可以获取飞行器的实时位置；飞行器通过图像采集模块，可以获取飞行器的环境信息。设计了上位机软件，能够接收图像并且进行单目稠密重建。稠密重建主要由从运动到结构、基础表面构建、约束场景流稠密重建、稠密对齐和局部模型集成共五方面组成，然后通过无线串口与无人机通讯，实现无人机的智能自主飞行。实验结果表明，该系统能够实现单目建模的功能。%In order to realize autonomous flight,monocular dense reconstruction and auto navigation of four rotors UAV,the monocular reconstruction and modeling system is designed. The flight controller uses six axis sensors,MPU-6050,to detect the attitude of the four rotors UAV;the speed of the 4 motor drive module is controlled by the STM32F103RBT6 chip to change the attitude of the UAV with PID algorithm. The monocular reconstruction system acquires real-time position and environment information of the UAV by controlling the GPS module and image acquisition module. The software on PC can receive the images and make monocular dense reconstruction. Dense reconstruction contains five main part including structure from motion,basic surface construction,constrained scene flow dense re-construction and local model integration. The intelligent autonomous flight of UAV is realized through communications between the PC and the UAV with wireless serial port. Experiments show that the system can realize monocular dense reconstruction.