基于Ghost改进的YOLOv5轻量化双目视觉无人机避障算法
Improved YOLOv5 lightweight binocular vision UAV obstacle avoidance algorithm based on Ghost module
摘要
Abstract
To address the issue of autonomous obstacle avoidance during unmanned aerial vehicle(UAV)flight in outdoor environments,a lightweight binocular vision-based UAV obstacle avoidance algorithm was proposed utilizing Ghost module to improve YOLOv5.Firstly,the Ghost module was introduced to enhance the CBL and CSP_X units of YOLOv5,while utilizing CIOUloss as the regression loss function,and optimizing the loss function by modifying the non-maximum suppression from CIOUnms to DIOUnms.Secondly,the stereo cameras were calibrated and corrected,and the ORB feature point extraction and sliding window matching algorithm was utilized to obtain the disparity value of the detected targets,and the distance information of the obstacle was solved based on the disparity value and camera intrinsic parameters.Finally,autonomous obstacle avoidance of the UAV was achieved based on the position and distance of the obstacle.The obstacle avoidance algorithm was implemented on an embedded system,an average FPS of 14.3 was achieved,and the feasibility of the algorithm was verified through UAV flight testing.The improved network had an average detection accuracy of 76.88%,which was 0.37%lower than that of YOLOv5,but the detection time and parameter quantity were reduced by 22%and 25%,respectively.This algorithm has significant value for the autonomous obstacle avoidance of UAVs.关键词
目标检测/轻量化/特征匹配/无人机避障Key words
object detection/lightweight/feature matching/obstacle avoidance unmanned aerial vehicles分类
信息技术与安全科学引用本文复制引用
贾一凡,曹天一,白越..基于Ghost改进的YOLOv5轻量化双目视觉无人机避障算法[J].液晶与显示,2024,39(1):111-119,9.基金项目
国家自然科学基金(No.11372309,No.61304017) （No.11372309,No.61304017）
吉林省科技发展计划重点项目(No.20150204074GX,No.20160204010NY) （No.20150204074GX,No.20160204010NY）
省院合作科技专项资金(No.2020SYHZ0031) （No.2020SYHZ0031）
中国科学院青促会项目(No.2014192) （No.2014192）
中国科学院轻型动力创新院重点基金(No.CXYJJ20-ZD-03)Supported by National Natural Science Foundation of China(No.11372309,No.61304017) （No.CXYJJ20-ZD-03）
Key Projects of Jilin Province Science and Technology Development Program(No.20150204074GX,No.20160204010NY) （No.20150204074GX,No.20160204010NY）
Provincial and Academic Cooperation Science and Technology Special Fund(No.2020SYHZ0031) （No.2020SYHZ0031）
Program of Youth Innovation Promotion Association CAS(No.2014192) （No.2014192）
Innovation Guidance Fund Project of Light Power Innovation Research Institute of Chinese Academy of Sciences(No.CXYJJ20-ZD-03) （No.CXYJJ20-ZD-03）
