In search and monitoring tasks, object traversing scenarios are more challenging than avoidance and tracking. In this paper, we propose an object perception and path planning algorithm which can detect hollow objects and calculate a traversing path in real-time. Meanwhile, a general vision unmanned aerial vehicle (UAV) system framework is designed to implement the proposed algorithm. A series of fundamental but effective algorithms are utilized in combination to detect hollow objects, and then the triangulation is applied to calculate the 3D position of the object. In order to improve the detection accuracy, a path planning and motion control algorithm is designed to enhance the safety and stability during traversing. The actual experimental results show that the UAV system is robust and feasible.

中文翻译：

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室外环境下单目无人机穿越物体

在搜索和监控任务中，对象遍历场景比避免和跟踪更具挑战性。在本文中，我们提出了一种物体感知和路径规划算法，该算法可以检测空心物体并实时计算遍历路径。同时，设计了通用视觉无人机（UAV）系统框架来实现所提出的算法。结合一系列基本但有效的算法来检测空心物体，然后应用三角测量来计算物体的3D位置。为了提高检测精度，设计了一种路径规划和运动控制算法，以提高移动过程中的安全性和稳定性。实际实验结果表明该无人机系统具有鲁棒性和可行性。