Obstacle detection and cataloging using radiating sensors

Thomas B. Apker, M. Stewart Geyer, Eric N. Johnson

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

1 Scopus citations

Abstract

An algorithm for processing range images into discrete obstacles is presented here along with a means of storing them and checking possible paths for intersections. Range images are broken into separate regions for analysis using a sobel mask and flood fill algorithm. A least square plane is fitted to each region, saved as a normal vector, and four points determining the largest possible extent of the obstacle are stored along with vectors from one of the stored points to the corners of the obstacle. With these vectors, colitions between stored obstacles and points on a possible path can be determined with between one and three dot products. The algorithm presented is optimized for fast processing speed and generally overestimates the size of observed obstacles.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007
Pages4843-4848
Number of pages6
StatePublished - Dec 24 2007
EventAIAA Guidance, Navigation, and Control Conference 2007 - Hilton Head, SC, United States
Duration: Aug 20 2007Aug 23 2007

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007
Volume5

Other

OtherAIAA Guidance, Navigation, and Control Conference 2007
CountryUnited States
CityHilton Head, SC
Period8/20/078/23/07

All Science Journal Classification (ASJC) codes

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

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