Andert, Franz and Goormann, Lukas (2008) A System for Vision-Based Flights in Unknown Urban Environments. In: Proceedings EMAV 2008. EMAV 2008, 2008-07-08 - 2008-07-10, Braunschweig.
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This paper presents a process to create threedimensional obstacle maps for collision avoidance, it is a part of the sense and avoid system of an unmanned helicopter. Classical robotic approaches like occupancy grid mapping and polygonal feature extraction are combined with aircraft-specific techniques and extended with new features to meet the requirements of flight scenarios. For example, the created map covers full 3-D scenarios, it is not restricted to a pre-defined area to be applicable to large outdoor environments, and the output is very compressed to be sent over network. 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.
|Document Type:||Conference or Workshop Item (Speech, Paper)|
|Title:||A System for Vision-Based Flights in Unknown Urban Environments|
|Date:||8 July 2008|
|Journal or Publication Title:||Proceedings EMAV 2008|
|In ISI Web of Science:||No|
|Keywords:||Unmanned Aerial Vehicle, Stereo Vision, Mapping, World Modeling|
|Event Title:||EMAV 2008|
|Event Type:||international Conference|
|Event Dates:||2008-07-08 - 2008-07-10|
|HGF - Research field:||Aeronautics, Space and Transport (old)|
|HGF - Program:||Aeronautics|
|HGF - Program Themes:||other|
|DLR - Research area:||Aeronautics|
|DLR - Program:||L - no assignement|
|DLR - Research theme (Project):||L -- no assignement|
|Institutes and Institutions:||Institute of Flight Systems > System Automation|
|Deposited By:||Dr.-Ing. Franz Andert|
|Deposited On:||13 Oct 2008|
|Last Modified:||27 Apr 2009 15:15|
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