Local Terrain Mapping for Obstacle Avoidance Using Monocular Vision

被引：10

作者：

Marlow, Sean Quinn ^{[1
]}

Langelaan, Jack W. ^{[1
]}

机构：

[1] Penn State Univ, University Pk, PA 16802 USA

来源：

JOURNAL OF THE AMERICAN HELICOPTER SOCIETY | 2011年 / 56卷 / 02期

关键词：

Complex environments - Monocular vision - Monocular vision system - Occupancy grids - Potential field - Terrain mapping - Unmanned rotorcrafts - Vehicle velocity;

D O I：

10.4050/JAHS.56.022007

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

A method for navigation of a small unmanned rotorcraft through an unsurveyed environment using a combination of global positioning system/inertial navigation system (GPS/INS) and a monocular vision system is presented. The environment contains a mix of small, convex obstacles such as tree trunks and large, nonconvex obstacles typical of an urban area. Optical flow measurements obtained from the vision system are fused with measurements of vehicle velocity to compute estimates of range to obstacles. These estimates are used to populate a local occupancy grid, which is fixed to the vehicle. This local occupancy grid allows modeling of complex environments and is suitable for use by generic trajectory planners. Results of simulations in a two-dimensional environment using a potential field obstacle avoidance routine are presented.

引用

页数：14

共 35 条

[1] Online world modeling and path planning for an unmanned helicopter [J].

Andert, Franz ;

Adolf, Florian .

AUTONOMOUS ROBOTS, 2009, 27 (03) :147-164

[2]

[Anonymous], 2007, UNMANNED SYSTEMS ROA

[3]

ARBUCKLE D, 2002, P IEEE RSJ INT C INT

[4]

BADINO H, 2007, WORKSH DYN VIS 11 IE

[5]

BRAILLON C, 2006, 9 INT IEEE C INT TRA, P1240

[6]

CHAHL J, 2006, AM CONTR C P MINN MN

[7]

Choset H., 2005, Principles of robot motion: theory, algorithms, and implementation

[8] Bayesian occupancy filtering for multitarget tracking:: An automotive application [J].

Coué, C ;

Pradalier, C ;

Laugier, C ;

Fraichard, T ;

Bessière, P .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2006, 25 (01) :19-30

[9]

Davison AJ, 2003, NINTH IEEE INTERNATIONAL CONFERENCE ON COMPUTER VISION, VOLS I AND II, PROCEEDINGS, P1403

[10]

DIEL DD, 2005, P 2005 IEEE WORKSH M

← 1 2 3 4 →