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

32 Citations (Scopus)

Abstract

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
Volume50
Issue number20
DOIs
Publication statusPublished - 2014 Jan 1

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Unmanned vehicles
Ground vehicles
Stereo vision
Unmanned aerial vehicles (UAV)
Motion planning
Global positioning system
Image processing

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this

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abstract = "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.",
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Multi-UAV-based stereo vision system without GPS for ground obstacle mapping to assist path planning of UGV. / Kim, Jin Hyo; Kwon, Ji Wook; Seo, Jiwon.

In: Electronics Letters, Vol. 50, No. 20, 01.01.2014, p. 1431-1432.

Research output: Contribution to journalArticle

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