Research on laser-assisted odometry of indoor UAV with monocular vision

In order to detect obstacles in front of the unmanned aerial vehicle accurately and achieve its distance measurement to meet the requirements of the indoor UAV obstacle avoidance and indoor environmental reconstruction, an odometry algorithm is presented based on monocular vision with laser-assisted. Template matching determines the image position of the laser´s spots on the measured object and gray centroid method is used to get the spots´ center coordinates. The preliminary solution is calculated through odometry algorithm that derives from geometric constraints based on Pinhole imaging, while the angle error of the camera is corrected. Experiments showed that the algorithm presented in the paper is able to calculate the distance from the target to the camera quickly and accurately, which has significant engineering reference value.