| Citation: | CAI Z H，CHEN W J，ZHAO J，et al. Object detection and obstacle avoidance based on dynamic vision sensor for UAV[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（1）：144-153 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0201
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UAVs face a significant problem while trying to avoid moving objects while in flight. In order to detect and avoid high-speed dynamic obstacles in a dynamic environment, an algorithm for target detection and obstacle avoidance based on a dynamic vision sensor was designed. Firstly, we propose an event filter method and to filter the background noise, hot noise, and the method preserves the asynchrony of events. The motion compensation algorithm is designed to filter redundant events caused by the camera’s own motion in the event stream. For dynamic object detection, a fusion detection algorithm of event image and RGB image is designed, it has higher robustness in a highly dynamic environment. Finally, to avoid dynamic obstacles combined with the features of obstacle movement and UAV dynamic restrictions, finally, we enhanced the velocity obstacle method and estimated the target trajectory in accordance with the detection results. A large number of simulation tests, hand-held tests, and flight tests are carried out to verify the feasibility of the algorithm.
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