3D obstacle detection using a single camera

Syed Irtiza Ali Shah, Eric Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper aims at detecting obstacles using a single camera in an unknown three dimensional world, for 3D motion of an unmanned air vehicle. Obstacle detection is a pre-requisite for collision-free motion of a UAV through 3D space. Most research towards vision based obstacle detection and avoidance has been done for 2D planar motion of ground robots and using active sensors like laser range finders, sonar, radar etc. Passive camera based research has mostly been done, either using stereo vision (multiple cameras) or, by developing a prior expectation map of the world and its comparison with the new image data. In this paper, an attempt has been made to find a 3D solution of the obstacle detection problem using a single camera in an unknown world. The equations developed and the simulations results presented here, show that a 3D model of the scene can be generated from 2D image information from a single camera flying through a very small arc of lateral flight around the object, without the need of capturing images from all sides as in a typical 'structures from motion' problem. The forward flight simulation results show that the depth extracted from forward motion is in fact usable for large part of the image, which is a significant contribution of this work.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
StatePublished - Dec 1 2009
EventAIAA Guidance, Navigation, and Control Conference and Exhibit - Chicago, IL, United States
Duration: Aug 10 2009Aug 13 2009

Other

OtherAIAA Guidance, Navigation, and Control Conference and Exhibit
CountryUnited States
CityChicago, IL
Period8/10/098/13/09

Fingerprint

Cameras
Range finders
Stereo vision
Sonar
Unmanned aerial vehicles (UAV)
Radar
Robots
Lasers
Sensors
Air

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Ali Shah, S. I., & Johnson, E. (2009). 3D obstacle detection using a single camera. In AIAA Guidance, Navigation, and Control Conference and Exhibit [2009-5678]
Ali Shah, Syed Irtiza ; Johnson, Eric. / 3D obstacle detection using a single camera. AIAA Guidance, Navigation, and Control Conference and Exhibit. 2009.
@inproceedings{9b38d2d4943b4c67887fc3e5f0445d4a,
title = "3D obstacle detection using a single camera",
abstract = "This paper aims at detecting obstacles using a single camera in an unknown three dimensional world, for 3D motion of an unmanned air vehicle. Obstacle detection is a pre-requisite for collision-free motion of a UAV through 3D space. Most research towards vision based obstacle detection and avoidance has been done for 2D planar motion of ground robots and using active sensors like laser range finders, sonar, radar etc. Passive camera based research has mostly been done, either using stereo vision (multiple cameras) or, by developing a prior expectation map of the world and its comparison with the new image data. In this paper, an attempt has been made to find a 3D solution of the obstacle detection problem using a single camera in an unknown world. The equations developed and the simulations results presented here, show that a 3D model of the scene can be generated from 2D image information from a single camera flying through a very small arc of lateral flight around the object, without the need of capturing images from all sides as in a typical 'structures from motion' problem. The forward flight simulation results show that the depth extracted from forward motion is in fact usable for large part of the image, which is a significant contribution of this work.",
author = "{Ali Shah}, {Syed Irtiza} and Eric Johnson",
year = "2009",
month = "12",
day = "1",
language = "English (US)",
isbn = "9781563479786",
booktitle = "AIAA Guidance, Navigation, and Control Conference and Exhibit",

}

Ali Shah, SI & Johnson, E 2009, 3D obstacle detection using a single camera. in AIAA Guidance, Navigation, and Control Conference and Exhibit., 2009-5678, AIAA Guidance, Navigation, and Control Conference and Exhibit, Chicago, IL, United States, 8/10/09.

3D obstacle detection using a single camera. / Ali Shah, Syed Irtiza; Johnson, Eric.

AIAA Guidance, Navigation, and Control Conference and Exhibit. 2009. 2009-5678.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

T1 - 3D obstacle detection using a single camera

AU - Ali Shah, Syed Irtiza

AU - Johnson, Eric

PY - 2009/12/1

Y1 - 2009/12/1

N2 - This paper aims at detecting obstacles using a single camera in an unknown three dimensional world, for 3D motion of an unmanned air vehicle. Obstacle detection is a pre-requisite for collision-free motion of a UAV through 3D space. Most research towards vision based obstacle detection and avoidance has been done for 2D planar motion of ground robots and using active sensors like laser range finders, sonar, radar etc. Passive camera based research has mostly been done, either using stereo vision (multiple cameras) or, by developing a prior expectation map of the world and its comparison with the new image data. In this paper, an attempt has been made to find a 3D solution of the obstacle detection problem using a single camera in an unknown world. The equations developed and the simulations results presented here, show that a 3D model of the scene can be generated from 2D image information from a single camera flying through a very small arc of lateral flight around the object, without the need of capturing images from all sides as in a typical 'structures from motion' problem. The forward flight simulation results show that the depth extracted from forward motion is in fact usable for large part of the image, which is a significant contribution of this work.

AB - This paper aims at detecting obstacles using a single camera in an unknown three dimensional world, for 3D motion of an unmanned air vehicle. Obstacle detection is a pre-requisite for collision-free motion of a UAV through 3D space. Most research towards vision based obstacle detection and avoidance has been done for 2D planar motion of ground robots and using active sensors like laser range finders, sonar, radar etc. Passive camera based research has mostly been done, either using stereo vision (multiple cameras) or, by developing a prior expectation map of the world and its comparison with the new image data. In this paper, an attempt has been made to find a 3D solution of the obstacle detection problem using a single camera in an unknown world. The equations developed and the simulations results presented here, show that a 3D model of the scene can be generated from 2D image information from a single camera flying through a very small arc of lateral flight around the object, without the need of capturing images from all sides as in a typical 'structures from motion' problem. The forward flight simulation results show that the depth extracted from forward motion is in fact usable for large part of the image, which is a significant contribution of this work.

UR - http://www.scopus.com/inward/record.url?scp=78049312349&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=78049312349&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:78049312349

SN - 9781563479786

BT - AIAA Guidance, Navigation, and Control Conference and Exhibit

ER -

Ali Shah SI, Johnson E. 3D obstacle detection using a single camera. In AIAA Guidance, Navigation, and Control Conference and Exhibit. 2009. 2009-5678