Multi-UAV-based stereo vision system without GPS for ground obstacle mapping to assist path planning of UGV

Jin Hyo Kim, Ji Wook Kwon, Jiwon Seo

Research output: Contribution to journalArticle

37 Citations (Scopus)


A multi-unmanned aerial vehicle (UAV)-based stereo vision system is proposed to assist global path planning of an unmanned ground vehicle (UGV) even in GPS-denied environments. The proposed system can optimally generate the depth map of ground objects and robustly detect obstacles. The proposed multi-UAV-based system with a movable baseline overcomes the limitations of a single-UAV-based stereo vision system with a fixed baseline. Thus, the performance of the proposed system does not degrade significantly based on the altitude of UAVs. The relative position and altitude estimation, multi-agent formation control and image processing techniques are considered to implement a prototype system. The experimental results demonstrate the performance of the implemented system for various baseline conditions between UAVs.

Original languageEnglish
Pages (from-to)1431-1432
Number of pages2
JournalElectronics Letters
Issue number20
Publication statusPublished - 2014 Sep 25


All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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