Research On Saliency Detection Of Binocular Vision For Rotorcraft UAV

Rotor UAV has become one of the research hotpots in the society in recent years,and has made considerable progress and application.Binocular stereo vision technology has become the focus of computer vision and artificial in telligence in recent years.The use of binocular vision to obtain depth information and three-dimensional reconstruction of the scene is also more and more combined with robot technology.The binocular stereo vision system designed in this paper is designed to provide the distance information between the end of the manipulator and the target object for the manipulator system of the rotor to guide the grasping of the manipulator of the rotorcraft.The main content of this paper is the binocular vision at the end of the manipulator of the rotorcraft aircraft manipulator system.In this paper,the hardware platform of a rotor-unmanned aerial vehicle binocular stereo vision system is constructed,and the experiment of calibration and correction of the binocular camera is carried out,and the internal and external parameters of the camera are obtained.In the stage of target recognition,this paper proposes a method of significant detection,which can be used to detect the original view significantly,and then get the denoising after a significant picture.The significant image after the denoising is done with the original view,and the target object area is obtained and the pixel information is kept in the region.It can be accurately matched to the object.The ma tching time is reduced at the same time.In the phase of image stereo matching,this paper completes the stereo matching experiment of the image,and completes the feature matching experiment using the surf operator at the same time,and obtains the accura te depth information of the object.The experimental results show that: in the target recognition stage,the saliency detection method is introduced to get the target area accurately,and the matching time is obviously reduced.The binocular stereo vision ranging system designed in this paper is easy to operate and meets the requirements of accuracy and real-time.It provides effective data for the grasping of the manipulator system of rotorcraft..