BINOCULAR VISION-BASED ENVIRONMENT SENSING METHOD AND APPARATUS, AND UNMANNED AERIAL VEHICLE

摘要

A binocular vision-based environment sensing method and apparatus, and an unmanned aerial vehicle (10). The unmanned aerial vehicle (10) is provided with five binocular cameras, the five binocular cameras comprising a first binocular camera (21), a second binocular camera (22), a third binocular camera (23), a fourth binocular camera (24) and a fifth binocular camera (25); the first binocular camera (21) is disposed at the front portion of the fuselage of the unmanned aerial vehicle (10), the second binocular camera (22) is inclined upward and is disposed between the left side of the fuselage and the upper portion of the fuselage of the unmanned aerial vehicle (10), the third binocular camera (23) is inclined upward and is disposed between the right side of the fuselage and the upper portion of the fuselage of the unmanned aerial vehicle (10), the fourth binocular camera (24) is disposed at the lower portion of the fuselage of the unmanned aerial vehicle (10), and the fifth binocular camera (25) is disposed at the rear portion of the fuselage of the unmanned aerial vehicle (10). The described unmanned aerial vehicle (10) can simplify an omni-directional sensing system while reducing the sensing blind area.