Vision-based approach to obstacle avoidance

Yoko Watanabe, Eric N. Johnson, Anthony J. Calise

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

20 Scopus citations


This paper describes a 3D obstacle modeling system which uses a 2D vision sensor. Prior work tracks feature points in a sequence of images and estimates their positions. However, in this paper we use obstacle edges instead. Using an image segmentation technique, edges are detected as line segments. Subsequently, these edges are modeled in a 3D space from the measured line segments using known camera motions. The z-test method is used for corresponding estimated line data with measurements. Line addition and deletion algorithms are also explained. Simulation results show that simple structures are accurately modeled by the suggested line-based estimator. Finally, this method is applied to a 3D terrain mapping problem.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2005
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Number of pages10
ISBN (Print)1563477378, 9781563477379
StatePublished - 2005
EventAIAA Guidance, Navigation, and Control Conference 2005 - San Francisco, CA, United States
Duration: Aug 15 2005Aug 18 2005

Publication series

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


OtherAIAA Guidance, Navigation, and Control Conference 2005
Country/TerritoryUnited States
CitySan Francisco, CA

All Science Journal Classification (ASJC) codes

  • General Engineering


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