论文标题
使用单眼相机避免障碍物
Obstacle Avoidance Using a Monocular Camera
论文作者
论文摘要
基于简单的数码相机的避免碰撞系统将有助于将小型无人机的安全整合到拥挤的低空环境中。在这项工作中，我们为小型无人机提供了一个避免障碍系统，该系统使用带有混合神经网络和路径计划器控制器的单眼相机。该系统由一个视觉网络组成，用于估算相机图像，高级控制网络，碰撞预测网络和应急策略的深度。在模拟的无人机上评估该系统，该系统以约束的飞行模式导航障碍物路线。结果表明，所提出的系统在维持与操作相关的飞行速度的同时达到了低碰撞率。
A collision avoidance system based on simple digital cameras would help enable the safe integration of small UAVs into crowded, low-altitude environments. In this work, we present an obstacle avoidance system for small UAVs that uses a monocular camera with a hybrid neural network and path planner controller. The system is comprised of a vision network for estimating depth from camera images, a high-level control network, a collision prediction network, and a contingency policy. This system is evaluated on a simulated UAV navigating an obstacle course in a constrained flight pattern. Results show the proposed system achieves low collision rates while maintaining operationally relevant flight speeds.
