Autonomous Flights in Dynamic Environments with Onboard Vision
Yingjian Wang,Jialin Ji,Qianhao Wang,Chao Xu,Fei Gao,Yingjian Wang,Jialin Ji,Qianhao Wang,Chao Xu,Fei Gao
In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion-aware dynamic perception method based on depth images, which classifies obstacles as dynamic and static. For representing generic dynamic environment, we model dynamic objects with moving ellipsoids and fuse static ones...
