A method for navigation of a small unmanned rotorcraft through an unsurveyed environment using a combination of global positioning system/inertial navigation system (GPS/INS) and a monocular vision system is presented. The environment contains a mix of small, convex obstacles such as tree trunks and large, nonconvex obstacles typical of an urban area. Optical flow measurements obtained from the 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.


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    Title :

    Local terrain mapping for obstacle avoidance using monocular vision


    Additional title:

    Lokale Geländeabbildung zur Hindernisvermeidung bei monokularer Sicht


    Contributors:

    Published in:

    Journal of the American Helicopter Society ; 56 , 2 ; 022007/1-022007/14


    Publication date :

    2011


    Size :

    14 Seiten, 16 Bilder, 4 Tabellen, 35 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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