Method and system for controlling unmanned aerial vehicle to autonomously pass through door frame based on binocular vision positioning

The invention discloses a control method and system for an unmanned aerial vehicle to autonomously pass through a door frame based on binocular vision localization, and the method comprises the steps: firstly, shooting a door frame RGB image through a binocular camera, carrying out the histogram equalization processing, carrying out the screening of an HSV channel threshold value, obtaining a binary image of a door frame range, carrying out the morphological processing, and obtaining a binary image; then detecting an angular point center point of the door frame, establishing tf conversion in an ROS system, converting relative coordinates of the camera and the door frame into absolute coordinates between the door frame and a world coordinate system, calculating coordinates of a crossing key point on a normal of a door frame plane, and judging the hovering stability of the unmanned aerial vehicle after the unmanned aerial vehicle flies to a target point every time; and continuing to execute the flight task afte