Pushbroom stereo for high-speed navigation in cluttered environments
Name
Tedrake_Pushbroom stereo.pdf
Size
3.55 MB
Format
Adobe PDF
Checksum (MD5)
ae0b9ef3816c7a9833ae08238682374f
Author(s)
Barry, Andrew J.
Tedrake, Russell Louis
Date Issued
May 2015
Journal
Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Barry, Andrew J., and Russ Tedrake. “Pushbroom Stereo for High-Speed Navigation in Cluttered Environments.” 2015 IEEE International Conference on Robotics and Automation (ICRA) (May 2015).
Version
Author's final manuscript
Abstract
We present a novel stereo vision algorithm that is capable of obstacle detection on a mobile ARM 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 local 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 m/s) 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.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA.2015.7139617
