Reserch On The Indoor UAV Obstacle Avoidance And 3D Scene Reconstruction Technology

“Human beings are born with the dream of flying.” So all kinds of aircrafts came into being.According to the classification of aircraft propeller layout structure,the airarafts are divided into fixed wing,helicopter,multi_rotor.In recent years,multi-rotor aircrafts developed rapidly in the high-tech fields of aerophotography,scientific research,fire control,agroforestry,national defense security.The unique layout and use mode makes it an advantage that other types of aircraft cannot replace in the application process.The research of the UAV indoor obstacle avoidance technology has important research value in protecting the safety of personnel and aircraft.The 3D reconstruction technology can veritably restore the three-dimentional space scene of the images captured by the aircraft's airborne camera,which has important significance to the aerospace,heritage building 3D reconstruction,AR.This paper introduced the development status of indoor UAV obstacle avoidance and 3D scene reconstruction technology,and designed the brand-new four-rotor aircraft as the experimental platform for the indoor aircraft obstacle avoidance and 3D scene reconstruction technology.The main research contents are as follows.This paper firstly introduced the classification of multi-rotor aircraft,and analyzed the advantages and disadvantages of all kinds of multi-rotor aircrafts as well as major application areas.The four-rotor aircraft dynamics was given to determine the suitable four-rotor structure for this topic.According to the basic components of the four-rotor aircraft,the new four-rotor aircraft was designed and the finite element analysis of the structure was carried out to meet the requirements of the collision intensity.Secondly,this paper introduced the process of the attitude calculation algorithm in detail.The mathematical model of aircraft was built using Newtonian mechanics method.Then,the ultrasonic sensor was reasonably arranged around the body of the aircraft to avoid indoor obstacles in order to better detect the obstacles' location and distance from the aircraft.After the completion of the development and implementation of the indoor aircraft obstacle avoidance system,this paper carried out the ultrasonic obstacle avoidance system of uav indoor obstacle avoidance flight test,and analyzed the test data to verify the security and stability of obstacle avoidance system.Finally,this paper studied the 3D scene reconstruction technology of the aircraft airborne camera.Based on the principle of computer vision 3D reconstruction,this paper completed camera parameter calibration,and obtained the camera parameter matrix.SIFT and SURF were introduced based on 2D image-based feature extraction algorithm.Through the theoretical calculation,this paper analyzed the advantages and disadvantages of the two algorithms,and designed experiments to verify.Through the experiment of taking the 2D images,this paper reconstructed indoor scene and analyzed image quality,the advantages and disadvantages of the algorithm.