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A Fast and Small 3-D Obstacle Model for Autonomous Applications
Andert, Franz and Goormann, Lukas (2008) A Fast and Small 3-D Obstacle Model for Autonomous Applications. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2883-2889. IEEE/RSJ IROS 2008, 2008-09-22 - 2008-09-26, Nice, France. ISBN 978-1-4244-2058-2.
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Abstract
This paper presents a mapping process that can be used for autonomous applications like obstacle avoidance and trajectory planning. The process is real-time capable, and works in full 3-D environments. The mapping starts with building an occupancy grid out of sensor data. Within this grid, single objects are recognized and their polygonal shapes are calculated. The model for object shape representation is rather rough and uses only right prisms and horizontal floor planes. This makes the shape calculation very fast. The extracted objects are not complex so that an external application will be fast as well. As a special application, the approach is tested on an aerial vehicle using a stereo camera system.
| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||
|---|---|---|---|---|---|---|---|
| Title: | A Fast and Small 3-D Obstacle Model for Autonomous Applications | ||||||
| Authors: |
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| Date: | 25 September 2008 | ||||||
| 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. 2883-2889 | ||||||
| ISBN: | 978-1-4244-2058-2 | ||||||
| Status: | Published | ||||||
| Keywords: | Unmanned Aerial Vehicle, Stereo Vision, Mapping, World Modeling | ||||||
| Event Title: | IEEE/RSJ IROS 2008 | ||||||
| Event Location: | Nice, France | ||||||
| Event Type: | international Conference | ||||||
| Event Dates: | 2008-09-22 - 2008-09-26 | ||||||
| Organizer: | IEEE/RSJ | ||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||
| HGF - Program: | Aeronautics | ||||||
| HGF - Program Themes: | L - no assignement | ||||||
| DLR - Research area: | Aeronautics | ||||||
| DLR - Program: | L - no assignement | ||||||
| DLR - Research theme (Project): | ["eprint_fieldopt_dlr_project_search_L000" not defined] | ||||||
| Location: | Braunschweig | ||||||
| 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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