Embodiments described herein provide various examples of an automatic obstacle avoidance system for unmanned vehicles using embedded stereo vision techniques. In one aspect, an unmanned aerial vehicle (UAV) capable of performing autonomous obstacle detection and avoidance is disclosed. This UAV includes: a stereo vision camera set coupled to the one or more processors and the memory to capture a sequence of stereo images; and a stereo vision module configured to: receive a pair of stereo images captured by a pair of stereo vision cameras; perform a border cropping operation on the pair of stereo images to obtain a pair of cropped stereo images; perform a sub sampling operation on the pair of cropped stereo images to obtain a pair of sub sampled stereo images; and perform a dense stereo matching operation on the pair of sub sampled stereo images to generate a dense three-dimensional (3D) point map of a space corresponding to the pair of stereo images.
Obstacle avoidance system based on embedded stereo vision for unmanned aerial vehicles
2020-09-15
Patent
Elektronische Ressource
Englisch
OBSTACLE AVOIDANCE SYSTEM BASED ON EMBEDDED STEREO VISION FOR UNMANNED AERIAL VEHICLES
Europäisches Patentamt | 2019
|MONOCULAR VISION-BASED OBSTACLE DETECTION/AVOIDANCE FOR UNMANNED AERIAL VEHICLES
British Library Conference Proceedings | 2016
|MOVING OBSTACLE AVOIDANCE FOR UNMANNED AERIAL VEHICLES
British Library Conference Proceedings | 2013
|