Abstract

Unmanned aerial vehicles are now playing an important role in water conservancy industry. This paper presents a visual navigation system that is performed with a rotor-craft UAV. The main sensor is a stereo camera, which can output two frames of images at the same time from the left and the right sensors. The sum of absolute difference algorithm is adopted for fast image matching, and then the disparity image and the depth information are computed. A simple and efficient ground extraction method is proposed for locating obstacles. Finally, a path planning algorithm is proposed, which guarantees the planned path is smooth and the robot can return to the original GNSS navigation waypoints.

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