Overview obstacle maps for obstacle‐aware navigation of autonomous drones

Obstacle Detection for High Speed Autonomous Navigation

We present several schemes for Obstacle Detection for autonomous vehicles traveling at high speeds (above 5m/s). In particular, we discuss schemes that make a globally“flat-world” assumption and ignore vehicle pitch motion. Next, we examine methods that relax the above assumptions. In each case we discuss the strengths and weakness of the solutions proposed. Experimental and simulation results ...

Stereo - Based Autonomous Navigation and Obstacle Avoidance ?

This paper presents a stereo vision-based autonomous navigation system using a GPS and a modified version of the VFH algorithm. In order to obtain a high-accuracy disparity map and meet the time constraints of the real time navigation system, this work proposes the use of a semi-global stereo method. By not suffering the same issues of the regularly used local stereo methods, the employed stere...

Obstacle avoidance for an autonomous vehicle using force field method

This paper presents a force field concept for guiding a vehicle at a high speed maneuver. This method is  similar to potential field method. In this paper, motion constrains like vehicles velocity, distance to obstacle and tire conditions and such lane change conditions as zero slop condition and zero lateral acceleration are discussed. After that, possible equations as vehicles path ar...

Nighttime negative obstacle detection for off-road autonomous navigation

Detecting negative obstacles (ditches, holes, wadis, and other depressions) is one of the most difficult problems in perception for unmanned ground vehicle (UGV) off-road autonomous navigation. One reason for this is that the width of the visible portion of a negative obstacle may only span a few pixels at the stopping distance for vehicle speeds UGV programs aspire to operate at (up to 50kph)....

Stereo Vision for Obstacle Detection in Autonomous Navigation