The purpose of this paper is to propose that the three-dimensional information of obstacles should be identified to allow unmanned aerial vehicles (UAVs) to detect and avoid obstacles existing in their flight path.

    Design/methodology/approach

    First, the approximate outline of obstacles was detected using multi-scale-oriented patches (MOPS). At the same time, the spatial coordinates of feature points that exist in the internal outline of the obstacles were calculated through the scale-invariant feature transform (SIFT) algorithm. Finally, the results from MOPS and the results from the SIFT algorithm were merged to show the three-dimensional information of the obstacles.

    Findings

    As the method proposed in this paper reconstructs only the approximate outline of obstacles, a quick calculation can be done. Moreover, as the outline information is combined through SIFT feature points, detailed three-dimensional information pertaining to the obstacles can be obtained.

    Practical implications

    The proposed approach can be used efficiently in GPS-denied environments such as certain indoor environments.

    Originality/value

    For the autonomous flight of small UAVs having a payload limit, this paper suggests a means of forming three-dimensional information about obstacles with images obtained from a monocular camera.


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    Titel :

    Obstacle avoidance for small UAVs using monocular vision


    Beteiligte:
    Lee, Jeong-Oog (Autor:in) / Lee, Keun-Hwan (Autor:in) / Park, Sang-Heon (Autor:in) / Im, Sung-Gyu (Autor:in) / Park, Jungkeun (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2011-10-18


    Format / Umfang :

    10 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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