{"title":"Towards Full Omnidirectional Depth Sensing Using Active Vision for Small Unmanned Aerial Vehicles","authors":"A. Harmat, I. Sharf","doi":"10.1109/CRV.2014.12","DOIUrl":null,"url":null,"abstract":"Collision avoidance for small unmanned aerial vehicles operating in a variety of environments is limited by the types of available depth sensors. Currently, there are no sensors that are lightweight, function outdoors in sunlight, and cover enough of a field of view to be useful in complex environments, although many sensors excel in one or two of these areas. We present a new depth estimation method, based on concepts from multi-view stereo and structured light methods, that uses only lightweight miniature cameras and a small laser dot matrix projector to produce measurements in the range of 1-12 meters. The field of view of the system is limited only by the number and type of cameras/projectors used, and can be fully Omni directional if desired. The sensitivity of the system to design and calibration parameters is tested in simulation, and results from a functional prototype are presented.","PeriodicalId":385422,"journal":{"name":"2014 Canadian Conference on Computer and Robot Vision","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2014-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 Canadian Conference on Computer and Robot Vision","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CRV.2014.12","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
Collision avoidance for small unmanned aerial vehicles operating in a variety of environments is limited by the types of available depth sensors. Currently, there are no sensors that are lightweight, function outdoors in sunlight, and cover enough of a field of view to be useful in complex environments, although many sensors excel in one or two of these areas. We present a new depth estimation method, based on concepts from multi-view stereo and structured light methods, that uses only lightweight miniature cameras and a small laser dot matrix projector to produce measurements in the range of 1-12 meters. The field of view of the system is limited only by the number and type of cameras/projectors used, and can be fully Omni directional if desired. The sensitivity of the system to design and calibration parameters is tested in simulation, and results from a functional prototype are presented.