CNN-based single image obstacle avoidance on a quadrotor

Punarjay Chakravarty; Klaas Kelchtermans; Tom Roussel; Stijn Wellens; Tinne Tuytelaars; Luc Van Eycken

ICRA 2017poster106 citations

CNN-based single image obstacle avoidance on a quadrotor

Punarjay Chakravarty, Klaas Kelchtermans, Tom Roussel, Stijn Wellens, Tinne Tuytelaars, Luc Van Eycken

Abstract

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.

BibTeX

@inproceedings{icra2017_cnnbasedsingleim,
  title = {CNN-based single image obstacle avoidance on a quadrotor},
  author = {Punarjay Chakravarty and Klaas Kelchtermans and Tom Roussel and Stijn Wellens and Tinne Tuytelaars and Luc Van Eycken},
  booktitle = {ICRA 2017},
  year = {2017}
}