Adaptive adaptive obstacle avoidance algorithm of collaborative unmanned vehicles in dynamic scenes with monocular cameras

Yuqi Han

doi:10.1117/12.2602756

9 October 2021 Adaptive adaptive obstacle avoidance algorithm of collaborative unmanned vehicles in dynamic scenes with monocular cameras

Yuqi Han

Author Affiliations +

Proceedings Volume 11897, Optoelectronic Imaging and Multimedia Technology VIII; 1189705 (2021) https://doi.org/10.1117/12.2602756
Event: SPIE/COS Photonics Asia, 2021, Nantong, JS, China

Abstract

The monocular camera is widely used in robots and unmanned vehicles system because it is low cost and easy to calibrate and identify. However, the depth lack of the monocular camera hinders positioning and determining the real size of obstacles in the unmanned vehicle system. To solve the problem, we propose a collaborative structure to accurately acquire the position of static or dynamic obstacles based on the partially observing information from multiple monocular cameras. After that, a reinforcement learning based obstacle avoidance algorithm is proposed for unmanned vehicles under an unknown environment. Specifically, we discuss the influence of obstacles' moving orientations on the performance of obstacles adaptive avoidance. Simulation results verify the feasibility of the proposed algorithm.

Conference Presentation

Citation Download Citation

Yuqi Han "Adaptive adaptive obstacle avoidance algorithm of collaborative unmanned vehicles in dynamic scenes with monocular cameras", Proc. SPIE 11897, Optoelectronic Imaging and Multimedia Technology VIII, 1189705 (9 October 2021); https://doi.org/10.1117/12.2602756

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available