Share Email Print

Proceedings Paper

Stereo vision-based obstacle avoidance for micro air vehicles using an egocylindrical image space representation
Author(s): R. Brockers; A. Fragoso; L. Matthies
Format Member Price Non-Member Price
PDF $17.00 $21.00

Paper Abstract

Micro air vehicles which operate autonomously at low altitude in cluttered environments require a method for onboard obstacle avoidance for safe operation. Previous methods deploy either purely reactive approaches, mapping low-level visual features directly to actuator inputs to maneuver the vehicle around the obstacle, or deliberative methods that use on-board 3-D sensors to create a 3-D, voxel-based world model, which is then used to generate collision free 3-D trajectories. In this paper, we use forward-looking stereo vision with a large horizontal and vertical field of view and project range from stereo into a novel robot-centered, cylindrical, inverse range map we call an egocylinder. With this implementation we reduce the complexity of our world representation from a 3D map to a 2.5D image-space representation, which supports very efficient motion planning and collision checking, and allows to implement configuration space expansion as an image processing function directly on the egocylinder. Deploying a fast reactive motion planner directly on the configuration space expanded egocylinder image, we demonstrate the effectiveness of this new approach experimentally in an indoor environment.

Paper Details

Date Published: 25 May 2016
PDF: 7 pages
Proc. SPIE 9836, Micro- and Nanotechnology Sensors, Systems, and Applications VIII, 98361R (25 May 2016); doi: 10.1117/12.2224695
Show Author Affiliations
R. Brockers, Jet Propulsion Lab. (United States)
A. Fragoso, California Institute of Technology (United States)
L. Matthies, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 9836:
Micro- and Nanotechnology Sensors, Systems, and Applications VIII
Thomas George; Achyut K. Dutta; M. Saif Islam, Editor(s)

© SPIE. Terms of Use
Back to Top
Sign in to read the full article
Create a free SPIE account to get access to
premium articles and original research
Forgot your username?