Study on Autonomous Obstacle Avoidance Based On Guidance
DJI Guidance is an entirely new visual sensor navigation system,which has a function of real-time transmission of the depth of field images and other data.It is a robust optical sensing platform which significantly promotes the development of unmanned aerial vehicle(hereinafter referred to as UAV).On this basis,we have further studied and developed Guidance in application to the field of UAVs to also cut a striking figure,by applying the threshold and binaryzation to the single frame of a static image generated from Guidance.Utilizing OpenCVs contour detection algorithm,we find all the closed contour information and re-plan the feasible region.Also,we specially re-project the depth information to achieve three-dimensional reconstruction of the image.Then combining the re-planed feasible domain with three-dimensional reconstruction,we can perform real-time obstacle avoidance and mapping.The results demonstrate that our improvement can efficiently complete the obstacle avoidance and real-time mapping in the specific circumstances.
Zhizhang Hu Guangdi Hu Xiaoyuan Zhu Zihao Lei Haipeng Wan
School of Mechanical Engineering,Southwest Jiaotong University,No.999 Xian Road,Chengdu,China School of Information Science and Technology,Southwest Jiaotong University,No.999 Xian Road,Chengdu
国际会议
2017第三届机械、电子和信息技术工程国际会议(ICMITE 2017)
成都
英文
1-6
2017-12-16（万方平台首次上网日期，不代表论文的发表时间）