Image Preprocessing of Obstacle Avoidance for Underground Unmanned Aerial Vehicle Based on Monocular Vision

Given the inevitable existence of some static or dynamic obstacles in some local areas of the underground roadway and the characteristics of the roadway environment where the obstacles are located, this paper proposes a method of obstacle detection for underground UAV based on monocular vision. This method can extract obstacles from the complex tunnel background, and get the two-dimensional information of obstacles in the image after preprocessing and provide an important basis for the subsequent obstacle avoidance.