Combined Optic-Flow and Stereo-Based navigation of urban canyons for a UAV
Hrabar, Stefan, Sukhatme, Gaurav, Corke, Peter, Usher, Kane, & Roberts, Jonathan (2005) Combined Optic-Flow and Stereo-Based navigation of urban canyons for a UAV. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2005, IEEE, Shaw Conference Center, Edmonton, Alberta, Canada, pp. 3309-3316.
We present a novel vision-based technique for navigating an Unmanned Aerial Vehicle (UAV) through urban canyons. Our technique relies on both optic flow and stereo vision information. We show that the combination of stereo and optic-flow (stereo-flow) is more effective at navigating urban canyons than either technique alone. Optic flow from a pair of sideways-looking cameras is used to stay centered in a canyon and initiate turns at junctions, while stereo vision from a forward-facing stereo head is used to avoid obstacles to the front. The technique was tested in full on an autonomous tractor at CSIRO and in part on the USC autonomous helicopter. Experimental results are presented from these two robotic platforms operating in outdoor environments. We show that the autonomous tractor can navigate urban canyons using stereoflow, and that the autonomous helicopter can turn away from obstacles to the side using optic flow. In addition, preliminary results show that a single pair of forward-facing fisheye cameras can be used for both stereo and optic flow. The center portions of the fisheye images are used for stereo, while flow is measured in the periphery of the images.
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|Item Type:||Conference Paper|
|Keywords:||UAV, Urban Canyon, Optic Flow, Stereo Vision|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2005 IEEE|
|Copyright Statement:||Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
|Deposited On:||15 Sep 2010 12:07|
|Last Modified:||01 Mar 2012 00:13|
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