Name
Title | ||
|---|---|---|
Vision-Based Obstacle Avoidance for Micro Air Vehicles Using an Egocylindrical Depth Map. |
Abstract | ||
|---|---|---|
Obstacle avoidance is an essential capability for micro air vehicles. Prior approaches have mainly been either purely reactive, mapping low-level visual features directly to headings, or deliberative methods that use onboard 3-D sensors to create a 3-D, voxel-based world model, then generate 3-D trajectories and check them for potential collisions with the world model. Onboard 3-D sensor suites have had limited fields of view. We use forward-looking stereo vision and lateral structure from motion to give a very wide horizontal and vertical field of regard. We fuse depth maps from these sources in a novel robot-centered, cylindrical, inverse range map we call an egocylinder. Configuration space expansion directly on the egocylinder gives a very compact representation of visible freespace. This supports very efficient motion planning and collision-checking with better performance guarantees than standard reactive methods. We show the feasibility of this approach experimentally in a challenging outdoor environment. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1007/978-3-319-50115-4_44 | Springer Proceedings in Advanced Robotics |
Field | DocType | Volume |
Obstacle avoidance,Motion planning,Field of view,Structure from motion,Computer vision,Stereopsis,Simulation,Artificial intelligence,Engineering,Depth map,Fuse (electrical),Optical flow | Conference | 1 |
ISSN | Citations | PageRank |
2511-1256 | 0 | 0.34 |
References | Authors | |
0 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Roland Brockers | 1 | 77 | 9.62 |
| Anthony T. Fragoso | 2 | 1 | 1.04 |
| Brandon Rothrock | 3 | 27 | 1.09 |
| Connor Lee | 4 | 0 | 0.34 |
| Larry H. Matthies | 5 | 958 | 79.64 |