Visual localization and obstacle avoidance method and system for unmanned plane

Abstract

The invention provides a visual localization and obstacle avoidance method and a visual localization and obstacle avoidance system for an unmanned plane. The method comprises the following steps that an unmanned plane-mounted camera acquires visual sensing information of the unmanned plane, and acquires inertial navigation data by an inertia measuring unit of the unmanned plane; a remote control system receives visual sensing information and inertial navigation data, and obtains obstacle information in a flight environment where the unmanned plane is positioned according to the visual sensing information; an external camera performs visual localization on the unmanned plane to obtain the position information of the unmanned plane; the remote control system plans the flight path of the unmanned plane according to the obstacle information and the position information of the unmanned plane, and generates a flight control command according to the inertial navigation data and the flight path; and the unmanned plane receives the flight control command to control the unmanned plane to avoid obstacles. According to the embodiment of the invention, the problems of visual localization and obstacle avoidance of the unmanned plane are solved, and the unmanned plane has the capability of completing visual obstacle avoidance by using the plane-mounted camera and a positioning camera.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to a method and system for visual positioning and obstacle avoidance of an unmanned aerial vehicle. Background technique [0002] Due to the development of microelectronics technology and sensor technology in recent years, the realization of fully autonomous unmanned aerial vehicles has become possible. At present, the key issues of autonomous aircraft design focus on information acquisition, navigation and remote control system design. For traditional high-altitude flying drones, the combination of GPS and inertial measurement unit (IMU) can obtain the corresponding position, attitude, altitude, and heading information to achieve flight control and waypoint navigation. However, for micro-UAVs that are mainly used in low-altitude and near-earth environments, the flight environment is much more complicated, so the aircraft must not only estimate its own pose, but also perceiv...

AI Technical Summary

Problems solved by technology

[0004] Although computer vision has been developed for decades and some algorithms have been quite mature, drones, as a brand-new application platform, have many practical problems to be solved, such as blurred graphics caused by flight vibration, The vision processing algorithm needs to have strong real-time performance, and at the same time, due to the constraints of the drone's load capacity and computing power, it is difficult to extract as much and comprehensive information as possible from the aircraft's own attitude and surrounding environment under the existing conditions.

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