Obstacle detection and avoidance system for autonomous aircraft and other autonomous vehicles

A method of providing a collision avoiding travel path for an autonomous vehicle. A sensor system obtains stereo image data of a scene in the environment ahead of the normal travel path. This image data is used to generate a disparity image. The disparity image is processed to generate an occupancy...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	Anthony, David J, Geiger, Stephen A, Medjaouri, Omar D
Format:	Patent
Sprache:	eng
Schlagworte:	AEROPLANES AIRCRAFT ANALOGOUS ARRANGEMENTS USING OTHER WAVES AVIATION CALCULATING COMPUTING CONTROLLING COSMONAUTICS COUNTING DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES HELICOPTERS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING PERFORMING OPERATIONS PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION REGULATING SIGNALLING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TESTING TRAFFIC CONTROL SYSTEMS TRANSPORTING
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Beschreibung
Zusammenfassung:	A method of providing a collision avoiding travel path for an autonomous vehicle. A sensor system obtains stereo image data of a scene in the environment ahead of the normal travel path. This image data is used to generate a disparity image. The disparity image is processed to generate an occupancy map that assigns values to areas of the scene based on levels of visual clutter. The occupancy map is then converted to a potential field, which assigns each pixel in the scene with a force value that corresponds to its proximity to one or more obstacles. These force value are summed and used to modify the vehicle's path is a collision is likely.