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24 lines
1.6 KiB
Markdown
24 lines
1.6 KiB
Markdown
# 컴퓨터 비전 (Optical Flow, MoCap, VIO, Avoidance)
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[Computer vision](https://en.wikipedia.org/wiki/Computer_vision) techniques enable computers to use visual data to make sense of their environment.
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PX4 uses computer vision systems (primarily running on [Companion Computers](../companion_computer/index.md)) in order to support the following features:
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- Pose/Velocity Estimation:
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- [Optical Flow](../sensor/optical_flow.md) provides 2D velocity estimation (using a downward facing camera and a downward facing distance sensor).
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- [Motion Capture](../computer_vision/motion_capture.md) provides 3D pose estimation using a vision system that is _external_ to the vehicle.
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주로 실내 내비게이션에 사용됩니다.
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- [Visual Inertial Odometry (VIO)](../computer_vision/visual_inertial_odometry.md) provides 3D pose and velocity estimation using an onboard vision system and IMU.
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It is used for navigation when global position information is absent or unreliable.
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- Avoidance/Path Planning:
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- [Collision Prevention](../computer_vision/collision_prevention.md) is used to stop MC vehicles before they can crash into an obstacle (primarily when flying in manual modes).
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:::tip
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The [PX4 Vision Autonomy Development Kit](../complete_vehicles_mc/px4_vision_kit.md) (Holybro) is a robust and inexpensive kit for developers working with computer vision on PX4.
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:::
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## 외부 참고 자료
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- [XTDrone](https://github.com/robin-shaun/XTDrone/blob/master/README.en.md) - ROS + PX4 v1.9 simulation environment for computer vision.
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The [XTDrone Manual](https://www.yuque.com/xtdrone/manual_en) has everything you need to get started!
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