Unmanned aerial vehicle autonomous obstacle detection system and method based on binocular vision

The invention relates to an unmanned aerial vehicle autonomous obstacle detection system and method based on binocular vision. The unmanned aerial vehicle autonomous obstacle detection system and method based on the binocular vision are characterized in that the system comprises a binocular visual system, other sensor modules and a flight control system which are mounted on an unmanned aerial vehicle; the method comprises the steps that the binocular visual system acquires visual information of the flight environment of the unmanned aerial vehicle, and obstacle information is obtained through processing; other sensor units acquire state information of the unmanned aerial vehicle; the flight control system receives the obstacle information and the state information of the unmanned aerial vehicle, establishes a flight path and generates a flight control instruction to send to the unmanned aerial vehicle; the unmanned aerial vehicle flies by avoiding obstacles according to the flight control instruction. According to the unmanned aerial vehicle autonomous obstacle detection system and method based on the binocular vision, the vision information is fused with other sensor information, the flight environment information is perceived, flight path control and path planning are conducted to avoid the obstacles, the problem of vision obstacle avoidance of the unmanned aerial vehicle is effectively solved, and the capacity of completing vision obstacle avoidance by means of a vehicle-mounted camera is achieved.