Collision Avoidance for Quadrotors with a Monocular Camera

摘要

Automatic obstacle detection and avoidance is a key component for the success of micro-aerial vehicles (MAVs) in the future. As the payload of MAVs is highly constrained, cameras are attractive sensors because they are both lightweight and provide rich information about the environment. In this paper, we present an approach that allows a quadrotor with a single monocular camera to locally generate collision-free waypoints. We acquire a small set of images while the quadrotor is hovering from which we compute a dense depth map. Based on this depth map, we render a 2D scan and generate a suitable waypoint for navigation. In our experiments, we found that the pose variation during hovering is already sufficient to obtain suitable depth maps. The computation takes less than one second which renders our approach applicable for obstacle avoidance in real-time. We demonstrate the validity of our approach in challenging environments where we navigate a Parrot Ardrone quadrotor successfully through narrow passages including doors, boxes, and people.