基于双目视觉的无人机实时测距算法  

A Method of UAV Real-Time Ranging Based on Binocular Vision

作　　者：符强[1,2,3] 孔健明 纪元法 任风华[1,2] FU Qiang;KONG Jianming;JI Yuanfa;REN Fenghua(Guilin University of Electronic Technology,Guangxi Key Laboratory of Precision Navigation Technology and Application,Guilin 541000,China;Guilin University of Electronic Technology,Information and Communication School,Guilin 541000,China;National&Local Joint Engineering Research Center of Satellite Navigation Positioning and Location Service,Guilin 541000,China)

机构地区：[1]桂林电子科技大学广西精密导航技术与应用重点实验室,广西桂林541000 [2]桂林电子科技大学信息与通信学院,广西桂林541000 [3]卫星导航定位与位置服务国家地方联合工程研究中心,广西桂林541000

出　　处：《电光与控制》2023年第4期94-99,共6页Electronics Optics & Control

基　　金：国家自然科学基金(61561016,61861008);广西科技厅项目(桂科AA19182007);“认知无线电与信息处理”教育部重点实验室(CRKL200108);广西精密导航技术与应用重点实验室(DH201901);桂林电子科技大学研究生教育创新计划项目(2022YCXS050)。

摘　　要：无人机对目标进行测距时,其算法的实时性和准确性一直是研究的重点。针对算法的实时性,提出双向搜索策略以及采用三条数据流并行处理实现GPU加速,并引入蝶形排序算法,提高了运算效率;针对算法的准确性,提出改进AD算法与改进Census算法融合,有效地解决了算法过度依赖中心像素的问题;为了降低算法复杂度,在基于背景差法的目标检测中引入移动平均算法;针对无人机平台存储空间有限,提出存储数据优化方案,减少了数据的占用空间。在Middlebury数据集下与BM算法、SGBM算法进行对比实验,采集室外场景与BM算法进行测距性能对比,最后实现室外无人机测距。通过大量实验数据验证了所提算法可满足无人机实时测距的高精度要求。The real-time performance and accuracy of the algorithm for UAV ranging are always the focus of research.As for the real-time performance of the algorithm,a bidirectional search strategy and three data streams are proposed to accelerate the GPU,and a butterfly sorting algorithm is introduced to improve the computing efficiency.As for the accuracy of the algorithm,the improved Absolute Difference(AD)algorithm is combined with the improved Census algorithm,which effectively solves the problem that the algorithm relies too much on the center pixel.In order to reduce the complexity of the algorithm,the moving average algorithm is introduced into target detection based on the background subtraction method.As for the limited storage space of UAV platform,an optimization scheme of data storage is proposed to reduce the space occupied by data.A comparison with Boyer-Moore(BM)algorithm and Semi-Global Block Matching(SGBM)algorithm is conducted on Middlebury data set,and then the outdoor scenes are collected for the comparison with BM algorithm on ranging performance.Finally,the UAV ranging is implemented outdoors.A large number of experimental data has verified that the algorithm meets the high precision requirements of UAV real-time ranging.

关 键 词：无人机 双目视觉 双向搜索 蝶形算法 移动平均算法 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]