文章编号：1002-2082(2023)01-0202-09单目视觉融合激光投射的无人机障碍探测方法刘峰1,2，汪瓒1,2，王向军1,2（1.天津大学精密测试技术及仪器国家重点实验室，天津300072；2.天津大学微光机电系统技术教育部重点实验室，天津300072）摘要：针对微小型无人机在飞行作业任务中的主动避障需求，提出一种用于微小型无人机避障的、基于单目视觉与主动激光点阵投射的障碍探测方法。使用单目相机采集投射的激光点阵图案，经过图像分割、聚类、质心提取等处理过程，通过像面激光线方程约束快速排除特征一致激光点的歧义，使用激光点探测出无人机前方空间中障碍的方位信息。实验验证装置在基线距离为65mm，工作距离为7m的条件下，障碍探测的相对误差在1.5%以内。该方法精度高、时间复杂度低，可满足低算力的微小型无人机对障碍探测方法的需求，为进一步避障策略的生成提供数据支撑。关键词：障碍探测；微小型无人机；单目视觉；空间方位中图分类号：TN206文献标志码：ADOI：10.5768/JAO202344.0107002ObstaclesdetectionmethodforUAVbasedonmonocularvisionandlaserprojectionLIUFeng1,2，WANGZan1,2，WANGXiangjun1,2（1.StateKeyLaboratoryofPrecisionMeasuringTechnologyandInstruments,TianjinUniversity,Tianjin300072,China；2.KeyLaboratoryofMicroOpticalElectroMechanicalSystemTechnology(MinistryofEducation),TianjinUniversity,Tianjin300072,China）Abstract：Inordertomeettherequirementofactiveobstacleavoidanceofmicrominiatureunmannedaerialvehicle(UAV)inflightmission,anobstaclesdetectionmethodbasedonmonocularvisionandactivelaserlatticeprojectionofmicrominiatureUAVforobstaclesavoidancewasproposed.Theprojectedlaserlatticepatternswerecollectedbyamonocularcamera,andthroughtheprocessesofimagesegmentation,clusteringandcentroidextraction,theambiguityofthecharacteristicconsistentlaserpointwasquicklyeliminatedbytheconstraintofthelaserlineequationoftheimageplane.ThelaserpointswereusedtodetectthedistributionofobstaclesinthefrontspaceoftheUAV.Theexperimentalresultsshowthattherelativeerrorofobstaclesdetectioniswithin1.5%whenthebaselinedistanceis65mmandtheworkingdistanceis7m.Theproposedmethodhashighaccuracyandlowtimecomplexity,andcanmeettherequirementsforobstaclesdetectionmethod...
