Towards Multimodal Omnidirectional Obstacle Detection for Autonomous Unmanned Aerial Vehicles

Holz, Dirk; Nieuwenhuisen, Matthias; Droeschel, David; Schreiber, Michael; Behnke, Sven

doi:10.5194/isprsarchives-xl-1-w2-201-2013

Cited by 27 publications

(21 citation statements)

References 10 publications

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“…A typical UAV object detection system is shown in Fig. 9 and includes two stereo camera pairs (one pointing forwards, one pointing backwards) and a tilted, continuously rotating, 3D laser scanner for perceiving the environment in all directions [93]. Depending upon the direction, the measurement density of the 3D laser scanner varies and has its maximum in a forward-facing cone.…”

Section: Obstacle Detection Systemmentioning

confidence: 99%

State of Technology Review of Civilian UAVs

Chen¹,

Laefer

Mangina³

2016

ENG

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Background: Unmanned Aerial Vehicle (UAV) technology has exploded in recent years. Presently UAVs are beginning to be major in roads into geographical mapping, site inspection, agriculture, and search and rescue. Methods: This paper reviewed patents and papers worldwide related to both hard-ware and software for the construction and deployment of UAVs and is intended to provide a snapshot of currently available UAV technologies, as well as to identify recent trends and future opportunities in affiliated hardware and software. Results: Basic components related to self-designed units are explained (e.g. plat-form selection, autopilot control comparison and sensor selection), and current applications and research areas are discussed. Since autonomous navigation is a key technology in UAV applications, concepts about this are also explained. Conclusions: Both in the self-designed and commercial markets, UAV components are becoming modularized. By following a standard components list, it is no longer difficult to make a customised UAV. In this way, commercial products are becoming cheaper and more standardized in their performance. Current limitations of UAVs have also become more readily detectible. Extending the flight time, im-proving autonomous navigation abilities, and enriching the payload capacity will be the future research focus to address these limitations.

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Section: Obstacle Detection Systemmentioning

confidence: 99%

State of Technology Review of Civilian UAVs

Chen¹,

Laefer

Mangina³

2016

ENG

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“…Unfortunately, systems with all-visibility capability that combine visual, IR, LiDAR, radar and ultrasonic sensors are confined to large (autonomous) aerial or ground vehicles or lab prototypes with small autonomy [5], all these applications being able to cope with the high weight, computational load and power budget required for long-range 3D obstacle detection [6,7]. No miniaturised, light-weight, low-power solution that integrates all these range sensing technologies (i.e.…”

Section: A Range Sensing In Various Conditionsmentioning

confidence: 99%

INSPEX: Design and integration of a portable/wearable smart spatial exploration system

Lesecq

Foucault

Birot³

et al. 2017

Design, Automation &Amp; Test in Europe Conference &Amp; Exhibition (DATE), 2017

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Abstract-The INSPEX H2020 project main objective is to integrate automotive-equivalent spatial exploration and obstacle detection functionalities into a portable/wearable multi-sensor, miniaturised, low power device. The INSPEX system will detect and localise in real-time static and mobile obstacles under various environmental conditions in 3D. Potential applications range from safer human navigation in reduced visibility, small robot/drone obstacle avoidance systems to navigation for the visually/mobility impaired, this latter being the primary use-case considered in the project.

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“…The flow camera is pointing vertically to the ground and can-given suitable lighting conditions-measure velocities relative to the ground-plane with more than 100 Hz. We detail our sensor setup and the processing pipeline in [6], [31]. …”

Section: Related Workmentioning

confidence: 99%

“…Additionally, our MAV is equipped with two stereo camera pairs, and ultrasonic sensors covering the volume around the MAV up to 30 m range [6]. All these sensors have only local precision.…”

Section: Introductionmentioning

confidence: 99%

Obstacle detection and navigation planning for autonomous micro aerial vehicles

Nieuwenhuisen

Droeschel

Beul

et al. 2014

2014 International Conference on Unmanned Aircraft Systems (ICUAS)

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Abstract-Obstacle detection and real-time planning of collision-free trajectories are key for the fully autonomous operation of micro aerial vehicles in restricted environments.In this paper, we propose a complete system with a multimodal sensor setup for omnidirectional obstacle perception consisting of a 3D laser scanner, two stereo camera pairs, and ultrasonic distance sensors. Detected obstacles are aggregated in egocentric local multiresolution grid maps. We generate trajectories in a multi-layered approach: from mission planning to global and local trajectory planning, to reactive obstacle avoidance.We evaluate our approach in simulation and with the real autonomous micro aerial vehicle.

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Towards Multimodal Omnidirectional Obstacle Detection for Autonomous Unmanned Aerial Vehicles

Cited by 27 publications

References 10 publications

State of Technology Review of Civilian UAVs

State of Technology Review of Civilian UAVs

INSPEX: Design and integration of a portable/wearable smart spatial exploration system

Obstacle detection and navigation planning for autonomous micro aerial vehicles

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