Perception

SKILL — uav_perception

miuav cfa1a7a 856 B Updated

File contents

SKILL — uav_perception

无人机感知技能

Tools

  • obj_detection: 目标检测(YOLOv8 + ROS2,DetectNet / SSD)
  • depth_perception: 深度相机(RealSense D455i + librealsense)
  • pointcloud_filter: 点云滤波(VoxelGrid + PassThrough + RANSAC地面分割)

Usage

无人机环境感知,用于避障、目标跟踪:

  • YOLOv8 实时检测(ROS2 接口:yolov8_ros2)
  • 深度点云处理(PCL → 降采样 → 地面分割 → 障碍物聚类)
  • 视觉里程计(rtabmap_ros/republish 用于稠密重建)

Tips

  • 机载 GPU 有限,YOLOv8 用 INT8 量化模型( Jetson Nano 可实时)
  • 深度相机在户外强光下失效,补充超声波测距传感器
  • 目标检测后用 EKF 跟踪(避免单帧漏检导致频繁切换)

miuav/vibe-coding-ros2/tree/main/agents/skills/multi_rotor_uav/perception commit cfa1a7a71c

Frequently asked questions

npx skillmds@latest add miuav/perception-5