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Depth Image Processing for Obstacle Avoidance of an Autonomous VTOL UAV

Andert, Franz and Strickert, Gordon and Thielecke, Frank (2006) Depth Image Processing for Obstacle Avoidance of an Autonomous VTOL UAV. In: Deutscher Luft- und Raumfahrtkongress. Deutscher Luft- und Raumfahrtkongress, 2006-11-06 - 2006-11-09, Braunschweig. ISSN 0700-4083

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Abstract

We describe a new approach for stereo-based obstacle avoidance. This method analyzes the images of a stereo camera in realtime and searches for a safe target point that can be reached without collision. The obstacle avoidance system is used by our unmanned helicopter ARTIS (Autonomous Rotorcraft Testbed for Intelligent Systems) and its simulation environment. It is optimized for this UAV, but not limited to aircraft systems.

Document Type:Conference or Workshop Item (Paper)
Title:Depth Image Processing for Obstacle Avoidance of an Autonomous VTOL UAV
Authors:
AuthorsInstitution or Email of Authors
Andert, FranzUNSPECIFIED
Strickert, GordonUNSPECIFIED
Thielecke, FrankUNSPECIFIED
Date:5 November 2006
Journal or Publication Title:Deutscher Luft- und Raumfahrtkongress
Refereed publication:Yes
In ISI Web of Science:No
ISSN:0700-4083
Status:Published
Keywords:Depth Image, Disparity Image, Stereo Vision, Collision Avoidance, Obstacle Avoidance, VTOL UAV ARTIS, Autonomous Helicopter
Event Title:Deutscher Luft- und Raumfahrtkongress
Event Location:Braunschweig
Event Type:national Conference
Event Dates:2006-11-06 - 2006-11-09
Organizer:DGLR e.V.
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:other
DLR - Research area:Aeronautics
DLR - Program:no assignment
DLR - Research theme (Project):other
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > System Automation
Deposited By: Dr.-Ing. Franz Andert
Deposited On:07 Jan 2008
Last Modified:15 Jan 2010 01:46

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