3D Obstacle Detection Using a Single Camera

Files
syed_gnc_2009_181.pdf (409.22 KB)
Author(s)
Shah, Syed Irtiza Ali
Advisor(s)
Editor(s)
Associated Organization(s)
Organizational Unit
Daniel Guggenheim School of Aerospace Engineering
The Daniel Guggenheim School of Aeronautics was established in 1931, with a name change in 1962 to the School of Aerospace Engineering
Organizational Unit
Organizational Unit
Organizational Unit
Series
Collections
Research Publications
Supplementary to:
Permanent Link
http://hdl.handle.net/1853/35914
Abstract
This paper aims at detecting obstacles using a single camera in an unknown three dimensional world, for 3D motion of an unmanned air vehicle. Obstacle detection is a pre-requisite for collision-free motion of a UAV through 3D space. Most research towards vision based obstacle detection and avoidance has been done for 2D planar motion of ground robots and using active sensors like laser range finders, sonar, radar etc. Passive camera based research has mostly been done, either using stereo vision (multiple cameras) or, by developing a prior expectation map of the world and its comparison with the new image data. In this paper, an attempt has been made to find a 3D solution of the obstacle detection problem using a single camera in an unknown world. The equations developed and the simulations results presented here, show that a 3D model of the scene can be generated from 2D image information from a single camera flying through a very small arc of lateral flight around the object, without the need of capturing images from all sides as in a typical 'structures from motion' problem. The forward flight simulation results show that the depth extracted from forward motion is in fact usable for large part of the image, which is a significant contribution of this work.
Sponsor
Date
2009-08
Extent
Resource Type
Text
Resource Subtype
Proceedings
Rights Statement
Rights URI