无人机上基于立体的深度相机的深度图改进

2019 Federated Conference on Computer Science and Information Systems (FedCSIS) Pub Date : 2019-09-26 DOI:10.15439/2019F66

Daniel Pohl, Sergey Dorodnicov, Markus Achtelik

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引用次数: 4

摘要

在户外无人机上使用基于立体的深度相机可能会给计算深度图的立体算法带来挑战。错误的深度值表示物体靠近无人机，可能会混淆避障算法，并导致无人机飞行过程中的行为不稳定。我们分析了实际测试中遇到的问题以及实际解决方案，包括针对具有错误深度值的异常值修改深度图的后处理方法。

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Depth Map Improvements for Stereo-based Depth Cameras on Drones

Using stereo-based depth cameras outdoors on drones can lead to challenging situations for stereo algorithms calculating a depth map. A false depth value indicating an object close to the drone can confuse obstacle avoidance algorithms and lead to erratic behavior during the drone flight. We analyze the encountered issues from real-world tests together with practical solutions including a post-processing method to modify depth maps against outliers with wring depth values.

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来源期刊

2019 Federated Conference on Computer Science and Information Systems (FedCSIS)

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