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International Conference on Artificial Intelligence and Soft Computing

ICAISC 2018: Artificial Intelligence and Soft Computing pp 58–69Cite as

Block Matching Based Obstacle Avoidance for Unmanned Aerial Vehicle

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10841))

Abstract

Unmanned aerial vehicles (UAVs) are becoming very popular now. They have a variety of applications: search and rescue missions, crop inspection, 3D mapping, surveillance and military applications. However, many of the lower-end UAV do not have obstacle avoidance systems installed, which can lead to broken equipment or people may get injured. In this paper, we describe the design of low-cost UAV with computer vision based obstacle avoidance system. We used Block Match (BM) and Semi Global Block Match (SGBM) algorithms for detection of obstacles in stereo images. We constructed custom UAV platform, and demonstrated the effectiveness of UAV with an obstacle avoidance system in real-world field testing conditions.

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Acknowledgements

The Authors would like to acknowledge contribution to this research from the “Diamond Grant 2016” No. 0080/DIA/2016/45 funded by the Polish Ministry of Science and Higher Education.

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Authors and Affiliations

  1. Department of Multimedia Engineering, Kaunas University of Technology, 51368, Kaunas, Lithuania

    Adomas Ivanovas, Armantas Ostreika, Rytis Maskeliūnas & Robertas Damaševičius

  2. Institute of Mathematics, Faculty of Applied Mathematics, Silesian University of Technology, Gliwice, Poland

    Dawid Połap & Marcin Woźniak

Authors
  1. Adomas Ivanovas
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  2. Armantas Ostreika
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  3. Rytis Maskeliūnas
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  4. Robertas Damaševičius
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  5. Dawid Połap
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  6. Marcin Woźniak
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Corresponding author

Correspondence to Marcin Woźniak .

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Editors and Affiliations

  1. Częstochowa University of Technology, Częstochowa, Poland

    Leszek Rutkowski

  2. Częstochowa University of Technology, Częstochowa, Poland

    Rafał Scherer

  3. Częstochowa University of Technology, Częstochowa, Poland

    Marcin Korytkowski

  4. University of Alberta, Edmonton, AB, Canada

    Witold Pedrycz

  5. AGH University of Science and Technology, Kraków, Poland

    Ryszard Tadeusiewicz

  6. University of Louisville, Louisville, KY, USA

    Jacek M. Zurada

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Ivanovas, A., Ostreika, A., Maskeliūnas, R., Damaševičius, R., Połap, D., Woźniak, M. (2018). Block Matching Based Obstacle Avoidance for Unmanned Aerial Vehicle. In: Rutkowski, L., Scherer, R., Korytkowski, M., Pedrycz, W., Tadeusiewicz, R., Zurada, J. (eds) Artificial Intelligence and Soft Computing. ICAISC 2018. Lecture Notes in Computer Science(), vol 10841. Springer, Cham. https://doi.org/10.1007/978-3-319-91253-0_6

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  • DOI: https://doi.org/10.1007/978-3-319-91253-0_6

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-91252-3

  • Online ISBN: 978-3-319-91253-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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