Stereo-Based Obstacle Mapping from a Helicopter Platform

摘要

This paper presents a part of the sense and avoid system of an unmanned helicopter, that describes the process of creating three-dimensional obstacle maps used by a collision avoidance system. Classical robotic approaches are combined with aircraft-specific techniques and extended with new features to meet the requirements of flight scenarios. The maps are created and updated onboard and in real-time, and it is possible to integrate a-priori knowledge and the data of other sensors or vehicles. Furthermore, the map is adaptive so that the vehicle is not restricted at all, e.g. to a pre-defined area.