Obstacles detection method for UAV based on monocular vision and laser projection

Table 1. Camera calibration parameters
View table
View in Article
Table 1. Camera calibration parameters
[f_x, f_y]/ pixel [u₀, v₀]/ pixel k_c
相机标定参数 [4 191.52, 4 195.61] [862.89, 480.09] [−0.506, 0.710, 0.000, 0.000]

Table 2. Spatial structure parameters of laser patterns

View table

View in Article

Table 2. Spatial structure parameters of laser patterns

激光点编号	结构参数
激光点编号	k₁	b₁	k₂	b₂
0	0.023 5	−68.557 4	0.036 8	4.240 4
1	0.015 9	−66.646 9	−0.009 9	−1.919 5
2	0.053 9	−71.004 8	−0.001 1	1.396 4
3	0.072 2	−64.665 6	0.031 4	0.289 7
4	0.063 7	−67.777 3	0.069 0	−0.513 9
5	0.030 9	−66.933 5	0.091 3	−9.387 0
6	−0.005 8	−70.393 9	0.079 7	−0.097 7
7	−0.025 4	−69.783 3	0.044 3	5.823 9
8	−0.016 0	−68.509 8	0.009 7	−1.490 3

Table 3. Measured data of the No.1 laser point mm

View table

View in Article

Table 3. Measured data of the No.1 laser point mm

组数	坐标真值			坐标测量值			绝对误差
组数	X_calib	Y_calib	Z_calib	X_cal	Y_cal	Z_cal	ΔX	ΔY	ΔZ
1	−47.46	−15.61	1 257.85	−55.96	−15.59	1 244.45	−8.50	0.01	−13.39
2	−44.33	−16.80	1 363.58	−55.24	−17.18	1 346.42	−10.91	−0.38	−17.17
3	−37.84	−19.81	1 832.42	−51.86	−21.96	1 820.15	−14.03	−2.15	−12.28
4	−31.59	−24.08	2 137.75	−49.70	−25.64	2 124.71	−18.11	−1.56	−13.04
5	−22.51	−25.96	2 739.65	−45.42	−32.26	2 725.98	−22.91	−6.30	−13.67
6	−14.63	−32.79	3 216.23	−41.83	−37.48	3 230.34	−27.21	−4.69	14.11
7	−0.04	−45.00	4 306.69	−33.99	−50.27	4 332.54	−33.94	−5.27	25.86
8	14.09	−51.17	5 034.92	−28.99	−58.42	5 035.40	−43.07	−7.25	0.47
9	23.30	−56.39	5 628.52	−24.64	−65.51	5 646.03	−47.94	−9.12	17.51
10	44.40	−72.85	6 972.79	−14.46	−82.10	7 076.21	−58.87	−9.25	103.43
11	81.90	−104.48	10 044.83	−5.44	−98.75	8 344.44	−87.34	5.73	−1 700.39
12	127.28	−164.33	15 144.30	19.85	−146.34	11 898.66	−107.43	17.99	−3 245.64

Tools

Get Citation

Copy Citation Text

Feng LIU, Zan WANG, Xiangjun WANG. Obstacles detection method for UAV based on monocular vision and laser projection[J]. Journal of Applied Optics, 2023, 44(1): 202

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites