Vision-based obstacle avoidance for Unmanned Aerial Vehicles

摘要：

A problem of unmanned aerial vehicles (UAVs) being able to avoid obstacles and collisions by means of processing the images taken by one camera is presented in the paper. The optical flow method based on gradient method of Lukas-Kanade was used to obtain the tested structure in 3D space environment (extraction of images depth). This method allows to generate local information flow patterns from particular neighborhood of surrounding points. Presented algorithm for obstacle location and estimation of its shape was developed and implemented on the workstation with real time uClinus system. Proposed vision-based obstacle avoidance algorithm is demonstrated in simulation and in hardware in the loop flight tests on a fixed-wing UAV.

关键词： component Optical flow Lukas-Kanade method obstacle avoidance UA V image transformation

作者: Zdzisiaw Gosiewski Jakub Ciesluk Leszek Ambroziak

作者单位: Bialystok University of Technology, Faculty of Mechanical Engineering,Department on Automatics and R Bialystok University of Technology, Faculty of Mechanical Engineering,Department on Automatics and R

会议类型: 国际会议

会议名称: 2011 4th International Congress on Image and Signal Processing(第四届图像与信号处理国际学术会议 CISP 2011)

会议地点: 上海

会议语种:英文

页码: 2053-2058

在线出版日期: 2011-10-15（万方平台首次上网日期，不代表论文的发表时间）