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ALLFlight - Imaging sensors fused with Ladar data for moving obstacle detection

Doehler, Hans-Ullrich and Peinecke, Niklas and Schmerwitz, Sven and Lüken, Thomas (2013) ALLFlight - Imaging sensors fused with Ladar data for moving obstacle detection. In: 39th Conference on European Rotorcraft Forum. ERF 2013, 2013-09-03 - 2013-09-06, Moskau, Russland.

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Supporting a helicopter pilot during landings and takeoffs in a degraded visual environment (DVE) is one of the challenges within DLR's project ALLFlight (Assisted Low Level Flight and Landing on Unprepared Landing Sites). Different types of sensors (TV, Infrared, mmW radar and Ladar) are mounted onto DLR’s research helicopter FHS (flying helicopter simulator) for gathering different sensor data of the surrounding world. A high performance onboard computer cluster architecture acquires and fuses all the information to get one single comprehensive description of the outside situation. While TV and IR cameras deliver images with frame rates of 25 Hz or 30 Hz, Ladar and mmW radar provide georeferenced sensor data with only 2 Hz or even less. Extraction of moving objects from the Ladar data stream alone seems to be nearly impossible due to the large time difference of 500ms from frame to frame. Solving this problem, we extract in a first step potential moving objects from the IR/TV images. We connect their movements from frame to frame by a trajectory which is defined in image coordinates. In a next step, we look for Ladar points which are projected onto the same image coordinate frame. Whenever some points within each potential moving object trajectory are hit by a nearby Ladar point, we look for their corresponding world coordinates. As far as this world coordinates do not change from frame to frame the virtual movement within the image coordinates results from helicopter movements only. Such candidates can be neglected. All other potential objects which are hit by the Ladar data each 500ms can easily be analyzed within the world coordinates of the Ladar data. Therefore a quite fast 3D interpretation of these movements can be achieved.

Item URL in elib:https://elib.dlr.de/86398/
Document Type:Conference or Workshop Item (Speech)
Additional Information:referiertes Abstract
Title:ALLFlight - Imaging sensors fused with Ladar data for moving obstacle detection
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Doehler, Hans-UllrichUNSPECIFIEDhttps://orcid.org/0000-0002-5218-3887UNSPECIFIED
Peinecke, NiklasUNSPECIFIEDhttps://orcid.org/0000-0002-6683-2323UNSPECIFIED
Schmerwitz, SvenUNSPECIFIEDhttps://orcid.org/0000-0002-9194-8838UNSPECIFIED
Date:3 September 2013
Journal or Publication Title:39th Conference on European Rotorcraft Forum
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:data fusion, image processing, feature extraction, obstacle detection, 3D-trajectory estimation, ladar processing, IR camera calibration, helicopter navigation
Event Title:ERF 2013
Event Location:Moskau, Russland
Event Type:international Conference
Event Start Date:3 September 2013
Event End Date:6 September 2013
Organizer:Russian Helicopters, JSC
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft (old)
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Guidance > Pilot Assistance
Deposited By: Lüken, Dr.-Ing. Thomas
Deposited On:06 Dec 2013 13:54
Last Modified:24 Apr 2024 19:52

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