Stereo-vision based obstacle avoidance by finding safe region

被引：0
作者：
Xiaojie Zhao
Gang Wang
Maozhi Cai
Hongkun Zhou
机构：
[1] University of Electronic Science and Technology of China,School of Computer Science and Engineering
[2] University of Electronic Science and Technology of China,Center for Robotics, School of Electronic Engineering
[3] University of Electronic Science and Technology of China,School of Resources and Environment
来源：
International Journal of Control, Automation and Systems | 2017年 / 15卷
关键词：
General aviation; online obstacles localization and avoidance; stereo-vision; trajectory planning;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper presents an online obstacle localization and avoidance scheme for aerial vehicles over the order of seconds for general aviation. The scheme contains three stages. In the first stage, stereo visual odometry is adopted to locate the local positions of the obstacles, and the local positions are fused with global positioning system (GPS) or differential GPS to obtain global map information. In the second stage, we search the safety areas on the basis of depth image obtained by semi-global Matching (SGM) algorithm and computing safety points of every frame. In the third stage, the smooth trajectory is planned in real-time based on the map and those safety points through receding horizon control based mixed integer linear programming (MILP). Simulations and experiments verified the feasibility of the proposed scheme.
引用
收藏
页码：1374 / 1383
页数：9
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