Obstacle avoidance system based on embedded stereo vision for unmanned aerial vehicles
US10776939B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 3, 2018 |
| Grant date | Sep 15, 2020 |
| Priority date | — |
| Expiry date | Nov 19, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30261
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Embodiments described herein provide various examples of an automatic obstacle avoidance system for unmanned vehicles using embedded stereo vision techniques. In one aspect, an unmanned aerial vehicle (UAV) capable of performing autonomous obstacle detection and avoidance is disclosed. This UAV includes: a stereo vision camera set coupled to the one or more processors and the memory to capture a sequence of stereo images; and a stereo vision module configured to: receive a pair of stereo images captured by a pair of stereo vision cameras; perform a border cropping operation on the pair of stereo images to obtain a pair of cropped stereo images; perform a sub sampling operation on the pair of cropped stereo images to obtain a pair of sub sampled stereo images; and perform a dense stereo matching operation on the pair of sub sampled stereo images to generate a dense three-dimensional (3D) point map of a space corresponding to the pair of stereo images.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.