CaltechAUTHORS
  A Caltech Library Service

Stereo vision-based obstacle avoidance for micro air vehicles using an egocylindrical image space representation

Brockers, R. and Fragoso, A. and Matthies, L. (2016) Stereo vision-based obstacle avoidance for micro air vehicles using an egocylindrical image space representation. In: Micro- and Nanotechnology Sensors, Systems, and Applications VIII. Proceedings of SPIE. No.9836. Society of Photo-optical Instrumentation Engineers (SPIE) , Bellingham, WA, Art. No. 98361R . ISBN 9781510600775. http://resolver.caltech.edu/CaltechAUTHORS:20180719-104224891

[img] PDF - Published Version
See Usage Policy.

950Kb

Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechAUTHORS:20180719-104224891

Abstract

Micro air vehicles which operate autonomously at low altitude in cluttered environments require a method for onboard obstacle avoidance for safe operation. Previous methods deploy either purely reactive approaches, mapping low-level visual features directly to actuator inputs to maneuver the vehicle around the obstacle, or deliberative methods that use on-board 3-D sensors to create a 3-D, voxel-based world model, which is then used to generate collision free 3-D trajectories. In this paper, we use forward-looking stereo vision with a large horizontal and vertical field of view and project range from stereo into a novel robot-centered, cylindrical, inverse range map we call an egocylinder. With this implementation we reduce the complexity of our world representation from a 3D map to a 2.5D image-space representation, which supports very efficient motion planning and collision checking, and allows to implement configuration space expansion as an image processing function directly on the egocylinder. Deploying a fast reactive motion planner directly on the configuration space expanded egocylinder image, we demonstrate the effectiveness of this new approach experimentally in an indoor environment.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1117/12.2224695DOIArticle
Additional Information:© 2016 Society of Photo-optical Instrumentation Engineers (SPIE). This work was funded by the Army Research Laboratory under the Micro Autonomous Systems & Technology Collaborative Technology Alliance program (MAST-CTA). JPL contributions were carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.
Group:GALCIT
Funders:
Funding AgencyGrant Number
Army Research LaboratoryUNSPECIFIED
NASA/JPL/CaltechUNSPECIFIED
Subject Keywords:Micro air vehicles, obstacle avoidance, vision, egocylinder
Record Number:CaltechAUTHORS:20180719-104224891
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20180719-104224891
Official Citation:R. Brockers, A. Fragoso, L. Matthies, "Stereo vision-based obstacle avoidance for micro air vehicles using an egocylindrical image space representation", Proc. SPIE 9836, Micro- and Nanotechnology Sensors, Systems, and Applications VIII, 98361R (25 May 2016); doi: 10.1117/12.2224695; https://doi.org/10.1117/12.2224695
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:87994
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:19 Jul 2018 17:59
Last Modified:19 Jul 2018 17:59

Repository Staff Only: item control page