This paper introduces a visual perception system of UAV which solves the perception problem of UAV entering the house through the window during street warfare reconnaissance, that is how to identify and locate the window accurately in real-time and give the maximum safe crossing radius and plane normal vector. In order to solve the above problems, we propose an airborne visual perception system composed of window detection and localization. In the detection part, YOLOv3 algorithm is used to identify the window, and Harris is used to detect the corners of the window edge. In the localization part, the depth camera and visual odometer are combined to locate the window, then the maximum safe crossing radius and the plane normal vector of the window is calculated. In order to verify the performance of the system, we set up a tent for the actual flight experiment.
Target Recognition and Localization of UAV Passing Through Windows
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 342 ; 3469-3478
2022-03-18
10 pages
Article/Chapter (Book)
Electronic Resource
English
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