单目视觉融合激光投射的无人机障碍探测方法  

Obstacles detection method for UAV based on monocular vision and laser projection

作　　者：刘峰[1,2] 汪瓒[1,2] 王向军 LIU Feng;WANG Zan;WANG Xiangjun(State Key Laboratory of Precision Measuring Technology and Instruments,Tianjin University,Tianjin 300072,China;Key Laboratory of Micro Optical Electro Mechanical System Technology(Ministry of Education),Tianjin University,Tianjin 300072,China)

机构地区：[1]天津大学精密测试技术及仪器国家重点实验室,天津300072 [2]天津大学微光机电系统技术教育部重点实验室,天津300072

出　　处：《应用光学》2023年第1期202-210,共9页Journal of Applied Optics

基　　金：国家自然科学基金面上项目(51575388)。

摘　　要：针对微小型无人机在飞行作业任务中的主动避障需求,提出一种用于微小型无人机避障的、基于单目视觉与主动激光点阵投射的障碍探测方法。使用单目相机采集投射的激光点阵图案,经过图像分割、聚类、质心提取等处理过程,通过像面激光线方程约束快速排除特征一致激光点的歧义,使用激光点探测出无人机前方空间中障碍的方位信息。实验验证装置在基线距离为65 mm,工作距离为7 m的条件下,障碍探测的相对误差在1.5%以内。该方法精度高、时间复杂度低,可满足低算力的微小型无人机对障碍探测方法的需求,为进一步避障策略的生成提供数据支撑。In order to meet the requirement of active obstacle avoidance of microminiature unmanned aerial vehicle(UAV) in flight mission, an obstacles detection method based on monocular vision and active laser lattice projection of microminiature UAV for obstacles avoidance was proposed. The projected laser lattice patterns were collected by a monocular camera, and through the processes of image segmentation, clustering and centroid extraction, the ambiguity of the characteristic consistent laser point was quickly eliminated by the constraint of the laser line equation of the image plane. The laser points were used to detect the distribution of obstacles in the front space of the UAV. The experimental results show that the relative error of obstacles detection is within 1.5% when the baseline distance is 65 mm and the working distance is 7 m. The proposed method has high accuracy and low time complexity, and can meet the requirements for obstacles detection methods of microminiature UAV with low computing power, which provides the data support for the generation of further obstacles avoidance strategies.

关 键 词：障碍探测 微小型无人机 单目视觉 空间方位 

分 类 号：TN206[电子电信—物理电子学]