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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:
AuthorsInstitution or Email of Authors
Andert, FranzUNSPECIFIED
Goormann, LukasUNSPECIFIED
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 (old)
HGF - Program:Space (old)
HGF - Program Themes:W - no assignement
DLR - Research area:Space
DLR - Program:W - no assignement
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:12 Dec 2013 20:28

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