Ground navigation map construction method based on view angle of unmanned aerial vehicle

The invention relates to a ground navigation map construction method based on a view angle of an unmanned aerial vehicle, and belongs to the technical field of robots. The ground navigation map construction method mainly obtains an overhead view angle image in the air through the unmanned aerial vehicle, and captures most environment information at a time. After an image is acquired, a unique visual processing technology is adopted, main colors of an environment are extracted, a multi-level color threshold value is introduced, and a region of interest containing an exploration obstacle target is divided. And after robust screening, noise reduction and speckle removal of an HSV color space and a YCbCr color space, a black and white environment small map suitable for ground robot navigation is obtained. The processing method not only improves the definition of the image, but also ensures that the algorithm has good robustness under different environments and light conditions. Finally, the ROS platform is used f