Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-1/W2, 201-206, 2013
https://doi.org/10.5194/isprsarchives-XL-1-W2-201-2013
© Author(s) 2013. This work is distributed under
the Creative Commons Attribution 3.0 License.
 
16 Aug 2013
TOWARDS MULTIMODAL OMNIDIRECTIONAL OBSTACLE DETECTION FOR AUTONOMOUS UNMANNED AERIAL VEHICLES
D. Holz, M. Nieuwenhuisen, D. Droeschel, M. Schreiber, and S. Behnke Autonomous Intelligent Systems Group, Institute for Computer Science VI, University of Bonn, Germany
Keywords: Autonomous UAVs, Multimodal Sensor Setup, 3D Laser Scanner Abstract. Limiting factors for increasing autonomy and complexity of truly autonomous systems (without external sensing and control) are onboard sensing and onboard processing power. In this paper, we propose a hardware setup and processing pipeline that allows a fully autonomous UAV to perceive obstacles in (almost) all directions in its surroundings. Different sensor modalities are applied in order take into account the different characteristics of obstacles that can commonly be found in typical UAV applications. We provide a complete overview on the implemented system and present experimental results as a proof of concept.
Conference paper (PDF, 7192 KB)


Citation: Holz, D., Nieuwenhuisen, M., Droeschel, D., Schreiber, M., and Behnke, S.: TOWARDS MULTIMODAL OMNIDIRECTIONAL OBSTACLE DETECTION FOR AUTONOMOUS UNMANNED AERIAL VEHICLES, Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-1/W2, 201-206, https://doi.org/10.5194/isprsarchives-XL-1-W2-201-2013, 2013.

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