|Stereo-Vision based Obstacle Avoidance by Finding Safe Region
Xiaojie Zhao, Gang Wang*, Maozhi Cai and Hongkun Zhou
International Journal of Control, Automation, and Systems, vol. 15, no. 3, pp.1374-1383, 2017
Abstract : "This paper presents an online obstacle localization and avoidance scheme for aerial vehicles over the
order of seconds for general aviation. The scheme contains three stages. In the first stage, stereo visual odometry is
adopted to locate the local positions of the obstacles, and the local positions are fused with global positioning system
(GPS) or differential GPS to obtain global map information. In the second stage, we search the safety areas on the
basis of depth image obtained by semi-global Matching (SGM) algorithm and computing safety points of every
frame. In the third stage, the smooth trajectory is planned in real-time based on the map and those safety points
through receding horizon control based mixed integer linear programming (MILP). Simulations and experiments
verified the feasibility of the proposed scheme."
General aviation, online obstacles localization and avoidance, stereo-vision, trajectory planning.