西安电子科技大学学报（自然科学版）2025，Vol.52Issue(1)：60-79,20.DOI:10.19665/j.issn1001-2400.20241008
小型无人机视觉传感器避障方法综述
Review of obstacle avoidance methods for small UAVs using visual sensors
摘要
Abstract
The UAV autonomous flight obstacle avoidance technology is one of the most fundamental and critical technologies for the safe flight and application of drones,and it is also a current research hotspot in the UAV field.With the application of deep learning in computer vision and the rapid development and continuous improvement of visual sensors such as event cameras,methods about UAV autonomous flight obstacle avoidance based on visual sensors have made some progress.However,many existing research methods still face significant challenges in complex scenarios and a series of urgent problems that need to be addressed,particularly in terms of accuracy,real-time performance,and algorithm robustness.This paper first introduces the relevant concepts and difficulties of UAV obstacle avoidance.Then it categorizes obstacle avoidance algorithms based on visual sensors according to the hardware and technical approaches used into traditional obstacle avoidance methods,deep learning-based obstacle avoidance methods,event stream processing-based obstacle avoidance methods,sensor fusion-based obstacle avoidance methods,and decision-level obstacle avoidance methods based on vision.Each category of obstacle avoidance methods is discussed in detail,including their research progress and achievements,as well as an analysis of their advantages and disadvantages.Finally,the paper summarizes the existing problems in UAV obstacle avoidance algorithms and provides an outlook on future research directions.关键词
无人机/避障传感器/计算机视觉/事件相机Key words
unmanned aerial vehicle/obstacle detectors/computer vision/event camera分类
计算机与自动化引用本文复制引用
王家亮,董楷,顾兆军,陈辉,韩强..小型无人机视觉传感器避障方法综述[J].西安电子科技大学学报（自然科学版）,2025,52(1):60-79,20.基金项目
天津市教委科研计划项目(2020KJ026) （2020KJ026）
民航安全能力建设资金(PESA2022093) （PESA2022093）
