摘  要：為了實現小型無人機快速自主測距避障，在雙目視差測距的基礎上，提出了一種機載三目視差測距算法，利用三個視覺傳感器測得的數據，推導出簡單的距離公式。利用各傳感器成像間的相關性，提出了一種加快圖像識別方法，通過縮小對圖像中障礙物像元的搜索范圍，有效地減小了目標搜索運算量，加快了搜索速度，為小型無人機快速自主避障系統的研制創造了條件。   關鍵詞：多目成像；立體視覺；視差測距；圖像識別；CCD傳感器；區域分割   中圖分類號：TP872；TP75        文獻標識碼：A          文章編號：1672-4984（2008）03-0114-03   A fast parallax distance measuring method for small UAV obstacle avoiding   WANG Yi-fan， CHEN De-rong， ZHANG Li-yan （ School of Aerospace Science and Technology，Beijing University of Technology，Beijing 100081，China）   Abstract: In order to achieve obstacle avoidance of small UAV rapidly and independently by ranging, the paper presents an algorithm that measures distance through three vision sensors on the UAV based on binocular parallax distance measuring. The method used three vision sensors to obtain data, and then calculated some simple distance formulae. Using the correlation of image of vision sensors, an image recognition method which could increase the speed was proposed. It effectively decreased the computation power and improved the processing speed of parallax distance measuring by reducing research range of obstacle pixel in the image. This is a base for realizing autonomous obstacle avoiding system of small UAV.   Key words: Multi-aperture imaging； Stereo vision； Parallax measure distance； Image recognition； CCD； Region segmentation   Editor：liyan