Accession Number:

ADA608257

Title:

Pushbroom Stereo for High-Speed Navigation in Cluttered Environments

Descriptive Note:

Conferrence paper

Corporate Author:

MASSACHUSETTS INST OF TECH CAMBRIDGE COMPUTER SCIENCE AND ARTIFICIAL INTELLIGENCE LAB

Personal Author(s):

Report Date:

2014-09-01

Pagination or Media Count:

7.0

Abstract:

We present a novel stereo vision algorithm that is capable of obstacle detection on a mobile-CPU processor at 120 frames per second. Our system performs a subset of standard block-matching stereo processing, searching only for obstacles at a single depth. By using an onboard IMU and state-estimator we can recover the position of obstacles at all other depths, building and updating a full depth-map at framerate. Here, we describe both the algorithm and our implementation on a high-speed, small UAV, flying at over 20 MPH 9 ms close to obstacles. The system requires no external sensing or computation and is, to the best of our knowledge, the first high-framerate stereo detection system running onboard a small UAV.

Subject Categories:

  • Pilotless Aircraft
  • Miscellaneous Detection and Detectors

Distribution Statement:

APPROVED FOR PUBLIC RELEASE