Local terrain mapping for obstacle avoidance using monocular vision

Sean Quinn Marlow, Jack W. Langelaan

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

5 Scopus citations

Abstract

We present a method for navigation of a small unmanned rotorcraft through an unsurveyed envi-ronment consisting of forest and urban canyons. Optical flow measurements obtained from a 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.

Original languageEnglish (US)
Title of host publicationAmerican Helicopter Society International - International Specialists Meeting on Unmanned Rotorcraft 2009
Pages360-379
Number of pages20
StatePublished - Dec 1 2008
EventAmerican Helicopter Society International - International Specialists Meeting on Unmanned Rotorcraft 2009 - Phoenix, AZ, United States
Duration: Jan 20 2009Jan 22 2009

Publication series

NameAmerican Helicopter Society International - International Specialists Meeting on Unmanned Rotorcraft 2009

Other

OtherAmerican Helicopter Society International - International Specialists Meeting on Unmanned Rotorcraft 2009
CountryUnited States
CityPhoenix, AZ
Period1/20/091/22/09

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering

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    Marlow, S. Q., & Langelaan, J. W. (2008). Local terrain mapping for obstacle avoidance using monocular vision. In American Helicopter Society International - International Specialists Meeting on Unmanned Rotorcraft 2009 (pp. 360-379). (American Helicopter Society International - International Specialists Meeting on Unmanned Rotorcraft 2009).