DocumentCode :
250530
Title :
Stereo vision-based obstacle avoidance for micro air vehicles using disparity space
Author :
Matthies, L. ; Brockers, Roland ; Kuwata, Yoshiaki ; Weiss, Steven
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
fYear :
2014
fDate :
May 31 2014-June 7 2014
Firstpage :
3242
Lastpage :
3249
Abstract :
We address obstacle avoidance for outdoor flight of micro air vehicles. The highly textured nature of outdoor scenes enables camera-based perception, which will scale to very small size, weight, and power with very wide, two-axis field of regard. In this paper, we use forward-looking stereo cameras for obstacle detection and a downward-looking camera as an input to state estimation. For obstacle representation, we use image space with the stereo disparity map itself. We show that a C-space-like obstacle expansion can be done with this representation and that collision checking can be done by projecting candidate 3-D trajectories into image space and performing a z-buffer-like operation with the disparity map. This approach is very efficient in memory and computing time. We do motion planning and trajectory generation with an adaptation of a closed-loop RRT planner to quadrotor dynamics and full 3D search. We validate the performance of the system with Monte Carlo simulations in virtual worlds and flight tests of a real quadrotor through a grove of trees. The approach is designed to support scalability to high speed flight and has numerous possible generalizations to use other polar or hybrid polar/Cartesian representations and to fuse data from additional sensors, such as peripheral optical flow or radar.
Keywords :
autonomous aerial vehicles; collision avoidance; helicopters; robot vision; state estimation; stereo image processing; 3-D trajectories; 3D search; C-space-like obstacle expansion; Monte Carlo simulations; camera-based perception; closed-loop RRT planner; collision checking; disparity space; downward-looking camera; flight tests; forward-looking stereo cameras; high speed flight; micro air vehicles; motion planning; obstacle detection; obstacle representation; outdoor flight; quadrotor dynamics; state estimation; stereo disparity map; stereo vision-based obstacle avoidance; trajectory generation; tree grove; virtual worlds; z-buffer-like operation; Cameras; Optical imaging; Optical sensors; Planning; Three-dimensional displays; Trajectory; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
Type :
conf
DOI :
10.1109/ICRA.2014.6907325
Filename :
6907325
Link To Document :
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