By Topic

Combined grid and feature-based occupancy map building in large outdoor environments

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Franz Andert ; German Aerospace Center, Institute of Flight Systems, 38108 Braunschweig, Germany ; Lukas Goormann

This paper presents an approach to create three-dimensional occupancy maps from an aerial vehicle with stereo vision. The main idea is to create an occupancy grid that moves along with the vehicle and extract features into a fixed global map. Vice versa, global features or a-priori knowledge can be inserted into the grid. The maps are calculated onboard to be used for autonomous behavior like path planning and obstacle avoidance. With the described method, maps are created and updated in real-time, and due to its flexibility, the vehicle is not restricted to a pre-defined area. The developed approach has been demonstrated in flights with a small unmanned helicopter.

Published in:

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

Oct. 29 2007-Nov. 2 2007