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CNN-based single image obstacle avoidance on a quadrotor

Boekbijdrage - Boekhoofdstuk Conferentiebijdrage

© 2017 IEEE. This paper demonstrates the use of a single forward facing camera for obstacle avoidance on a quadrotor. We train a CNN for estimating depth from a single image. The depth map is then fed to a behaviour arbitration based control algorithm that steers the quadrotor away from obstacles. We conduct experiments with simulated and real drones in a variety of environments.
Boek: Proceedings ICRA 2017
Pagina's: 6369 - 6374
Jaar van publicatie:2017