旋翼无人机的双目视觉避障技术综述  

A Review of Binocular-Vision Obstacle AvoidanceTechnology for Rotorcraft UAVs

作　　者：吕东超 李少波[1] 蒲睿强 张黔富 陈光林 旷华聪 LYU Dongchao;LI Shaobo;PU Ruiqiang;ZHANG Qianfu;CHEN Guanglin;KUANG Huacong(Guizhou University,Guiyang 550000,China)

机构地区：[1]贵州大学,贵阳550000

出　　处：《电光与控制》2023年第11期67-75,84,共10页Electronics Optics & Control

基　　金：国家自然科学基金面上项目(52275480);国家重点研发计划(2020YFB1713300)。

摘　　要：在复杂环境中执行任务已经成为旋翼无人机发展的必然趋势。为了让旋翼无人机在复杂环境中高效、安全地执行任务,学者们对旋翼无人机的双目视觉避障技术展开了广泛的研究。为了解旋翼无人机的双目视觉自主避障技术的现状及发展趋势,首先,介绍了双目视觉避障系统的构成,分析各技术在双目视觉避障系统中的作用;然后,重点介绍双目视觉避障技术中常用的相机标定方法、立体匹配算法和避障算法,总结了各自的优缺点,并阐述最新发展;最后,对双目视觉避障技术的发展方向进行了展望。Performing missions in complex environments has become an inevitable trend in the development of rotorcraft UAVs.In order to enable the rotorcraft UAVs to efficiently and safely execute missions in complex environments,scholars have conducted extensive research on binocular-vision obstacle avoidance technology for rotorcraft UAVs.In order to understand current situation and development trends of binocular-vision autonomous obstacle avoidance technology for rotorcraft UAVs,the composition of the binocular-vision obstacle avoidance system is introduced,and the role each technology plays in the binocular-vision obstacle avoidance system is analyzed at first.Then,the camera calibration methods,stereo matching algorithms and obstacle avoidance algorithms commonly used in binocular-vision obstacle avoidance technology are introduced,the advantages and disadvantages of each are summarized,and the latest research progress is expounded.Finally,the development directions of binocular-vision obstacle avoidance technology are predicted.

关 键 词：旋翼无人机 相机标定方法 立体匹配算法 避障算法 综述 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计] TP391[自动化与计算机技术—计算机应用技术]