The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Download
Publications Copernicus
Download
Citation
Articles | Volume XL-1/W2
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
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

  16 Aug 2013

16 Aug 2013

TOWARDS MULTIMODAL OMNIDIRECTIONAL OBSTACLE DETECTION FOR AUTONOMOUS UNMANNED AERIAL VEHICLES

D. Holz, M. Nieuwenhuisen, D. Droeschel, M. Schreiber, and S. Behnke D. Holz et al.
  • 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.