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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: |
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| Date: | 05 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 | ||||||||
| HGF - Program: | Aeronautics | ||||||||
| HGF - Program Themes: | no assignment | ||||||||
| 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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