A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
A Stereoscopic Vision System Guiding an Autonomous Helicopter for Overhead Power Cable Inspection
RobVis '01 Proceedings of the International Workshop on Robot Vision
Depth Discontinuities by Pixel-to-Pixel Stereo
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Flying Fast and Low Among Obstacles: Methodology and Experiments
International Journal of Robotics Research
Junior: The Stanford entry in the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part II
A perception-driven autonomous urban vehicle
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part III
Autonomous off-road navigation with end-to-end learning for the LAGR program
Journal of Field Robotics - Special Issue on LAGR Program, Part I
Vision-based navigation through urban canyons
Journal of Field Robotics
Online world modeling and path planning for an unmanned helicopter
Autonomous Robots
Towards a navigation system for autonomous indoor flying
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Efficient C-space and cost function updates in 3D for unmanned aerial vehicles
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
High dynamic range stereo vision for outdoor mobile robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
TerraMax vision at the urban challenge 2007
IEEE Transactions on Intelligent Transportation Systems
Integrating LIDAR into Stereo for Fast and Improved Disparity Computation
3DIMPVT '11 Proceedings of the 2011 International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission
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We present an evaluation of stereo vision and laser-based range sensing for rotorcraft unmanned aerial vehicle (RUAV) obstacle avoidance. Our focus is on sensors that are suitable for mini-RUAV class vehicles in terms of weight and power consumption. The study is limited to the avoidance of large static obstacles such as trees. We compare two commercially available devices that are representative of the state of the art in two-dimensional scanning laser and stereo-based sensing. Stereo is evaluated with three different focal length lenses to assess the tradeoff between range resolution and field of view (FOV). The devices are evaluated in the context of obstacle avoidance through extensive flight trials with an RUAV. We discuss the merits and limitations of each sensor type, including sensing range, FOV, accuracy, and susceptibility to lighting conditions. We show that the stereo device fitted with 8-mm lenses has a better sensing range and vertical FOV than the laser device; however, it relies on careful calibration and is affected by high-contrast outdoor lighting conditions. The laser has a wider horizontal FOV and is more reliable at detecting obstacles that are within a 20-m range. Overall the laser produced superior obstacle avoidance performance, with a success rate of 84% compared to 42% for 8-mm stereo. © 2012 Wiley Periodicals, Inc. © 2012 Wiley Periodicals, Inc.