Modern unmanned aerial vehicles (UAVs) rely on binocular ranging modules to complete tasks such as obstacle avoidance, 3D reconstruction, and terminal strikes. However, the limited computing resources and high flight speed all put forward requirements for the real-time performance of the ranging algorithm. Thus, in this paper, we focus on how to make the algorithm dynamically allocate computing resources according to the changes of the UAV attitude to improve the system efficiency. To this end, we propose an improved semi-global matching method based on adaptive grid for fixed-wing UAVs. Experimental results demonstrate that the proposed method can effectively adapt to the changes in the speed and attitude of the UAV, and improve the real-time performance of the ranging module.
Improved Stereo Matching Algorithm Based on Adaptive Grid for Fixed-Wing UAVs
Lect. Notes Electrical Eng.
2022-03-22
8 pages
Article/Chapter (Book)
Electronic Resource
English
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