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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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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.

Item URL in elib:https://elib.dlr.de/55375/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:A Fast and Small 3-D Obstacle Model for Autonomous Applications
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Date:25 September 2008
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 2883-2889
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
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:other
DLR - Research area:Aeronautics
DLR - Program:L - no assignment
DLR - Research theme (Project):L - no assignment (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > System Automation
Deposited By: Andert, Dr.-Ing. Franz
Deposited On:13 Oct 2008
Last Modified:27 Apr 2009 15:15

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