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Combining Occupancy Grids with a Polygonal Obstacle World Model for Autonomous Flights

Andert, Franz and Goormann, Lukas (2009) Combining Occupancy Grids with a Polygonal Obstacle World Model for Autonomous Flights. In: Aerial Vehicles Advanced Robotics Series. In-Tech. pp. 13-28. ISBN 978-953-7619-41-1.

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Official URL: http://intechweb.org/books.php

Abstract

This chapter presents a mapping process that can be applied to autonomous systems for obstacle avoidance and trajectory planning. It is an improvement over commonly applied obstacle mapping techniques, such as occupancy grids. Problems encountered in large outdoor scenarios are tackled and a compressed map that can be sent on low-bandwidth networks is produced. The approach is real-time capable and works in full 3-D environments. The efficiency of the proposed approach is demonstrated under real operational conditions on an unmanned aerial vehicle using stereo vision for distance measurement.

Document Type:Contribution to a Collection
Title:Combining Occupancy Grids with a Polygonal Obstacle World Model for Autonomous Flights
Authors:
AuthorsInstitution or Email of Authors
Andert, FranzUNSPECIFIED
Goormann, LukasUNSPECIFIED
Date:January 2009
Journal or Publication Title:Aerial Vehicles
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 13-28
Editors:
EditorsEmail
Lam, Thanh MungUNSPECIFIED
Publisher:In-Tech
Series Name:Advanced Robotics Series
ISBN:978-953-7619-41-1
Status:Published
Keywords:Unmanned Aerial Vehicle, Stereo Vision, Mapping, World Modeling
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
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > System Automation
Deposited By: Dr.-Ing. Franz Andert
Deposited On:11 Feb 2009
Last Modified:27 Apr 2009 15:49

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