Publication

Reciprocal Collision Avoidance For Quadrotors Using On-board Visual Detection

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen
2015
Conference Papers

Abstract

In this paper we present a collision avoidance system based on visual detection. Our hardware consists of a Hummingbird quadrotor equipped with a large red marker with two built-in fish-eye cameras. Fusion of the measurements from the two cameras is done using a Gaussian-mixture probability hypothesis density filter, which allows for tracking several aircrafts at the same time. Our collision avoidance algorithm is based on navigation functions designed to cope with cameras characterized by limited field of view. Its mathematical correctness has been proven in a former paper. The collision avoidance maneuver is performed without the vehicles explicitly exchanging information via communication but instead relying solely on on-board sensors. Our system has been validated in an indoor space with four different collision scenarios. Trajectory data was recorded with an external motion capture system and demonstrate good robustness against sensing noise.

Official source

https://infoscience.epfl.ch/entities/publication/bccd9372-4036-4986-b4b4-384150856b1d

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Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen
2015
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/bccd9372-4036-4986-b4b4-384150856b1d

About this result

Related concepts (20)

Collision avoidance system

A collision avoidance system (CAS), also known as a pre-crash system, forward collision warning system (FCW), or collision mitigation system, is an advanced driver-assistance system designed to prevent or reduce the severity of a collision. In its basic form, a forward collision warning system monitors a vehicle's speed, the speed of the vehicle in front of it, and the distance between the vehicles, so that it can provide a warning to the driver if the vehicles get too close, potentially helping to avoid a crash.

Eye

Eyes are organs of the visual system. They provide living organisms with vision, the ability to receive and process visual detail, as well as enabling several photo response functions that are independent of vision. Eyes detect light and convert it into electro-chemical impulses in neurons (neurones).

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In audio engineering, electronics, physics, and many other fields, the color of noise or noise spectrum refers to the power spectrum of a noise signal (a signal produced by a stochastic process). Different colors of noise have significantly different properties. For example, as audio signals they will sound differently to human ears, and as they will have a visibly different texture. Therefore, each application typically requires noise of a specific color.

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