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Stereo-Based Obstacle Mapping from a Helicopter Platform

Andert, Franz and Goormann, Lukas (2007) Stereo-Based Obstacle Mapping from a Helicopter Platform. In: CEAS European Air and Space Conference, pp. 3273-3278. CEAS European Air and Space Conference, 2007-09-10 - 2007-09-13, Berlin, Germany. ISSN 0070-4083

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Abstract

This paper presents a part of the sense and avoid system of an unmanned helicopter, that describes the process of creating three-dimensional obstacle maps used by a collision avoidance system. Classical robotic approaches are combined with aircraft-specific techniques and extended with new features to meet the requirements of flight scenarios. The maps are created and updated onboard and in real-time, and it is possible to integrate a-priori knowledge and the data of other sensors or vehicles. Furthermore, the map is adaptive so that the vehicle is not restricted at all, e.g. to a pre-defined area.

Document Type:Conference or Workshop Item (Paper)
Title:Stereo-Based Obstacle Mapping from a Helicopter Platform
Authors:
AuthorsInstitution or Email of Authors
Andert, FranzUNSPECIFIED
Goormann, LukasUNSPECIFIED
Date:10 September 2007
Journal or Publication Title:CEAS European Air and Space Conference
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 3273-3278
ISSN:0070-4083
Status:Published
Keywords:Unmanned Aerial Vehicles, Stereo Vision, Sensor Fusion, Occupancy Grid Mapping
Event Title:CEAS European Air and Space Conference
Event Location:Berlin, Germany
Event Type:international Conference
Event Dates:2007-09-10 - 2007-09-13
Organizer:CEAS
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:other
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L -- no assignement
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > System Automation
Deposited By: Dr.-Ing. Franz Andert
Deposited On:08 Jan 2008
Last Modified:15 Jan 2010 02:02

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