Binocular vision-based unmanned aerial vehicle positioning and navigating method

Abstract

The invention discloses a binocular vision-based unmanned aerial vehicle positioning and navigating method. The method comprises the steps that an image left-right view and a camera parameter can be obtained based on a binocular camera of an unmanned airborne control system, and obtain a corrected left-right view, and further obtain the depth information of the corresponding pixel; the key pointsof the left view are extracted to be filtered and screened; a matched key point set is found through optical flow tracking in the current frame, and a matched key point pair is obtained; a final poseresult is obtained according to the matched key point pair calculation cost function; finally, the input continuous image frames are screened to obtain a key image frame, and a combined cost functionis calculated for the key point set and the pose of the key image frame, and the cost function can be optimized and solved to obtain a updated pose. According to the method, the reliable depth data can be quickly obtained through the binocular camera; meanwhile, the matching relation is quickly calculated by utilizing the optical flow method; the real-time performance is high, the algorithm robustness is high, and the unmanned aerial vehicle positioning and navigation work can be completed under the indoor and outdoor large and medium scenes.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a method for positioning and navigating an unmanned aerial vehicle based on binocular vision. Background technique [0002] Visual positioning and navigation technology is a key technology in the field of computer vision, and has important applications in surveying and mapping, control, military and other fields. At the same time, it involves a number of core technologies in the field of computer vision, such as image processing, pattern recognition, automatic control, feature engineering, etc. It is a comprehensive technology. [0003] When UAVs are used to observe the ground in the air, it is often necessary to solve the problem of positioning and navigation when the UAV moves in an unknown environment, that is, how to determine its own movement through the observation of the environment when a UAV moves in an unknown environment trajectories while...

AI Technical Summary

Problems solved by technology

In the process of positioning and navigation based on vision, since the scene observed by the camera is a two-dimensional scene and lacks height information, there is great uncertainty in building and navigating a three-dimensional map through a two-dimensional scene alone.

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