Local Terrain Mapping for Obstacle Avoidance using Monocular Vision

نویسندگان

  • Sean Quinn Marlow
  • Jack W. Langelaan
چکیده

We present a method for navigation of a small unmanned rotorcraft through an unsurveyed environment consisting of forest and urban canyons. Optical flow measurements obtained from a 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.

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

A Quasi Polar Local Occupancy Grid Approach for Vision-based Obstacle Avoidance

This paper proposes a quasi-polar local (turn rate-time) occupancy grid approach for obstacle avoidance. It uses GPS and inertial navigation combined with a vision system to map sensor data directly onto dynamically feasible paths, so that path planning consists simply of selecting the path with lowest likelihood of collision. A numerical method for motion updates that can cope with the differi...

متن کامل

A Flexible Framework for Vision based Obstacle Avoidance Problem

This paper addresses a new architecture that employs optical flow for vision based obstacle avoidance problem for mobile robot navigation. The proposed architecture utilizes monocular vision for navigation and obstacle avoidance. Real experiments to guide a Pioneer 3-DX mobile robot in indoor environments are presented, and the analysis of the results allow us to validate the proposed behavior ...

متن کامل

Stereo-Vision-Based Obstacle Avoidance in Rough Outdoor Terrain

In the Robotics Laboratory at Kaiserslautern University of Technology / Germany (Technische Universität Kaiserslautern / Deutschland), projects concerning the autonomous navigation in difficult outdoor terrain are currently carried out. Research activities in this field are accomplished in cooperation with the Royal Military Academy / Belgium (Ecole Royale Militaire / Belgique). The long-term g...

متن کامل

Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission

In January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. In the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the Descent Image Motion Estimation System (DIMES) to estimate horizontal veloci...

متن کامل

Terrain Mapping and Classification in Outdoor Environments Using Neural Networks

This paper describes a three-dimensional terrain mapping and classification technique to allow the operation of mobile robots in outdoor environments using laser range finders. We propose the use of a multi-layer perceptron neural network to classify the terrain into navigable, partially navigable, and non-navigable. The maps generated by our approach can be used for path planning, navigation, ...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2009