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A method of antenna barrier detection and depth estimation

Visual-based obstacle detection is becoming more and more widely used in autonomous navigation. However, there are various of obstacles in the environment, such as the Air wire, which is a big threat to the micro-UAV autonomous flight. Therefore, antenna wire detection and depth estimation have its practical significance. In this paper, we propose a new Air wire detection algorithm, which uses the 2Dimage information and static stereo vision to detect the Air wire in the environment, and then perform the depth estimation of the antenna. In contrast to the method of static stereos vision, we use the motion of the camera combined with the video stream information to solve the depth of the antenna wire from multiple visual angles and provide accurate 3D scene information for autonomous navigation and obstacle avoidance. We experimented indoors and outdoors respectively. we demonstrate our method can accurately solve the depth of the antenna obstacle, and its effect is far more than the current mainstream static stereos vision.