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Combined Grid and Feature-Based Occupancy Map Building in Large Outdoor Environments
Andert, Franz and Goormann, Lukas (2007) Combined Grid and Feature-Based Occupancy Map Building in Large Outdoor Environments. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2065-2070. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007-10-29 - 2007-11-02, San Diego, CA/USA. ISBN 1-4244-0912-8.
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Abstract
This paper presents an approach to create three-dimensional occupancy maps from an aerial vehicle with stereo vision. The main idea is to create an occupancy grid that moves along with the vehicle and extract features into a fixed global map. Vice versa, global features or a-priori knowledge can be inserted into the grid. The maps are calculated onboard to be used for autonomous behavior like path planning and obstacle avoidance. With the described method, maps are created and updated in real-time, and due to its flexibility, the vehicle is not restricted to a pre-defined area. The developed approach has been demonstrated in flights with a small unmanned helicopter.
| Document Type: | Conference or Workshop Item (Paper) | ||||||
|---|---|---|---|---|---|---|---|
| Title: | Combined Grid and Feature-Based Occupancy Map Building in Large Outdoor Environments | ||||||
| Authors: |
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| Date: | 31 October 2007 | ||||||
| Journal or Publication Title: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||
| Refereed publication: | Yes | ||||||
| In ISI Web of Science: | No | ||||||
| Page Range: | pp. 2065-2070 | ||||||
| ISBN: | 1-4244-0912-8 | ||||||
| Status: | Published | ||||||
| Keywords: | Unmanned Aerial Vehicles, Stereo Vision, Sensor Fusion, Occupancy Grid Mapping | ||||||
| Event Title: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||
| Event Location: | San Diego, CA/USA | ||||||
| Event Type: | international Conference | ||||||
| Event Dates: | 2007-10-29 - 2007-11-02 | ||||||
| Organizer: | IEEE/RSJ | ||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||
| HGF - Program: | Aeronautics | ||||||
| HGF - Program Themes: | no assignment | ||||||
| DLR - Research area: | Aeronautics | ||||||
| DLR - Program: | L DT - Drehflüglertechnologien | ||||||
| DLR - Research theme (Project): | W -- no assignement (old) | ||||||
| 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 02:02 |
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