Towards Perception-based Collision Avoidance for UAVs when Guiding the Visually Impaired
Autonomous navigation by drones using onboard sensors combined with machine learning and computer vision algorithms is impacting a number of domains, including agriculture, logistics, and disaster management. In this paper, we examine the use of drones for assisting visually impaired people (VIPs) in navigating through outdoor urban environments. Specifically, we present a perception-based path planning system for local planning around the neighborhood of the VIP, integrated with a global planner based on GPS and maps for coarse planning. We represent the problem using a geometric formulation and propose a multi DNN based framework for obstacle avoidance of the UAV as well as the VIP. Our evaluations conducted on a drone human system in a university campus environment verifies the feasibility of our algorithms in three scenarios; when the VIP walks on a footpath, near parked vehicles, and in a crowded street.
Code (0)
등록된 구현이 없습니다.
Tasks
Autonomous NavigationCollision AvoidanceManagementMethods 이 논문이 사용한 방법론
Similar Papers 제목 키워드 기반
An LGMD Based Competitive Collision Avoidance Strategy for UAV
Building a reliable and efficient collision avoidance system for unmanned aerial vehicles (UAVs) is still a challenging problem. This research takes inspiration from locusts, which can fly in dense swarms for hundreds of…
Collision AvoidanceThree Dimensional Hydrodynamic Flow-Based Collision Avoidance for UAV Formations Facing Emergent Dynamic Obstacles
This paper presents a three-dimensional, hydrodynamics-inspired collision avoidance framework for uncrewed aerial vehicle (UAV) formations operating in dynamic environments. When moving obstacles enter a UAV's sensing re…
Collision AvoidanceAutonomous Vision-based UAV Landing with Collision Avoidance using Deep Learning
There is a risk of collision when multiple UAVs land simultaneously without communication on the same platform. This work accomplishes vision-based autonomous landing and uses a deep-learning-based method to realize coll…
Collision AvoidanceDeep LearningObstacle Avoidance Using a Monocular Camera
A collision avoidance system based on simple digital cameras would help enable the safe integration of small UAVs into crowded, low-altitude environments. In this work, we present an obstacle avoidance system for small U…
Collision AvoidanceFly360: Omnidirectional Obstacle Avoidance within Drone View
Obstacle avoidance in unmanned aerial vehicles (UAVs), as a fundamental capability, has gained increasing attention with the growing focus on spatial intelligence. However, current obstacle-avoidance methods mainly depen…