TY - GEN
T1 - Monocular visual mapping for obstacle avoidance on UAVs
AU - Magree, Daniel
AU - Mooney, John G.
AU - Johnson, Eric N.
PY - 2013
Y1 - 2013
N2 - An unmanned aerial vehicle requires adequate knowledge of its surroundings in order to operate in close proximity to obstacles. UAVs also have strict payload and power constraints which limit the number and variety of sensors available to gather this information. It is desirable, therefore, to enable a UAV to gather information about potential obstacles or interesting landmarks using common and lightweight sensor systems. This paper presents a method of fast terrain mapping with a monocular camera. Features are extracted from camera images and used to update a sequential extended Kalman filter. The features locations are parameterized in inverse depth to enable fast depth convergence. Converged features are added to a persistent terrain map which can be used for obstacle avoidance and additional vehicle guidance. Simulation results and results from recorded flight test data are presented to validate the algorithm.
AB - An unmanned aerial vehicle requires adequate knowledge of its surroundings in order to operate in close proximity to obstacles. UAVs also have strict payload and power constraints which limit the number and variety of sensors available to gather this information. It is desirable, therefore, to enable a UAV to gather information about potential obstacles or interesting landmarks using common and lightweight sensor systems. This paper presents a method of fast terrain mapping with a monocular camera. Features are extracted from camera images and used to update a sequential extended Kalman filter. The features locations are parameterized in inverse depth to enable fast depth convergence. Converged features are added to a persistent terrain map which can be used for obstacle avoidance and additional vehicle guidance. Simulation results and results from recorded flight test data are presented to validate the algorithm.
UR - http://www.scopus.com/inward/record.url?scp=84883076011&partnerID=8YFLogxK
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U2 - 10.1109/ICUAS.2013.6564722
DO - 10.1109/ICUAS.2013.6564722
M3 - Conference contribution
AN - SCOPUS:84883076011
SN - 9781479908172
T3 - 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings
SP - 471
EP - 479
BT - 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings
T2 - 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013
Y2 - 28 May 2013 through 28 May 2013
ER -