Embodiments described herein provide various examples of an automatic obstacle avoidance system for unmanned vehicles using embedded stereo vision techniques. In one aspect, an 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 subsampling operation on the pair of cropped stereo images to obtain a pair of subsampled stereo images; and perform a dense stereo matching operation on the pair of subsampled stereo images to generate a dense three-dimensional (3D) point map of a space corresponding to the pair of stereo images.


    Access

    Download


    Export, share and cite



    Title :

    OBSTACLE AVOIDANCE SYSTEM BASED ON EMBEDDED STEREO VISION FOR UNMANNED AERIAL VEHICLES


    Contributors:
    MA RUI (author) / SHEN CHAO (author) / GAO YU (author) / LU YE (author) / CHEN MINGHUA (author) / LIANG JIE (author) / WU JIANBING (author)

    Publication date :

    2019-10-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B64C AEROPLANES , Flugzeuge / G06V



    Obstacle avoidance system based on embedded stereo vision for unmanned aerial vehicles

    MA RUI / SHEN CHAO / GAO YU et al. | European Patent Office | 2020

    Free access

    Monocular vision-based obstacle detection/avoidance for unmanned aerial vehicles

    Al-Kaff, Abdulla / Qinggang Meng, / Martin, David et al. | IEEE | 2016


    MONOCULAR VISION-BASED OBSTACLE DETECTION/AVOIDANCE FOR UNMANNED AERIAL VEHICLES

    Al-Kaff, Abdulla / Meng, Qinggang / Martín, David et al. | British Library Conference Proceedings | 2016



    MOVING OBSTACLE AVOIDANCE FOR UNMANNED AERIAL VEHICLES

    Lin, Y. / Saripalli, S. / American Helicopter Society | British Library Conference Proceedings | 2013