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Reactive Avoidance of Dynamic Obstacles through Optimization of Their Epipoles

Schaub, Alexander and Burschka, Darius (2015) Reactive Avoidance of Dynamic Obstacles through Optimization of Their Epipoles. In: Proceedings of the International Conference on System Theory, Control and Computing 2015, 318-´324. IEEE. International Conference on System Theory, Control and Computing, 14.-16. Okt. 2015, Rumänien. DOI: 10.1109/ICSTCC.2015.7321313 ISBN 978-1-4799-8481-7

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7321313

Abstract

This paper proposes a new reactive method of avoiding dynamic obstacles by real-time optimization. A mobile robot is equipped with a monocular camera and dynamic obstacles are identified in the image sequence by clustering the optical flow. The respective epipoles of the clusters are determined and afterwards the relative epipole positions are evaluated to identify colliding and dangerous objects. In this work the correlation between the vehicle's velocities and the cluster epipoles is derived and utilized in the proposed cost function for shifting the epipoles. By optimizing this cost function the vehicle is able to avoid collisions, which means that the 3D motion is deduced from purely 2D image data. Finally, the validity of the concept is confirmed by hardware-in-the-loop simulations.

Item URL in elib:https://elib.dlr.de/98903/
Document Type:Conference or Workshop Item (Speech)
Title:Reactive Avoidance of Dynamic Obstacles through Optimization of Their Epipoles
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schaub, Alexanderalexander.schaub (at) dlr.deUNSPECIFIED
Burschka, DariusUNSPECIFIEDUNSPECIFIED
Date:2015
Journal or Publication Title:Proceedings of the International Conference on System Theory, Control and Computing 2015
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/ICSTCC.2015.7321313
Page Range:318-´324
Publisher:IEEE
ISBN:978-1-4799-8481-7
Status:Published
Keywords:Autonomous Mobile Robots Monocular Obstacle Avoidance Optical Flow Real-Time Optimization
Event Title:International Conference on System Theory, Control and Computing
Event Location:Rumänien
Event Type:international Conference
Event Dates:14.-16. Okt. 2015
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Schaub, Alexander
Deposited On:23 Nov 2015 16:18
Last Modified:07 Sep 2016 11:12

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