Depth Map Improvements for Stereo-based Depth Cameras on Drones

Using stereo-based depth cameras outdoors on drones can lead to challenging situations for stereo algorithms calculating a depth map. A false depth value indicating an object close to the drone can confuse obstacle avoidance algorithms and lead to erratic behavior during the drone flight. We analyze...

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Bibliographic Details
Published inAnnals of Computer Science and Information Systems Vol. 18; pp. 341 - 348
Main Authors Pohl, Daniel, Dorodnicov, Sergey, Achtelik, Markus
Format Conference Proceeding Journal Article
LanguageEnglish
Published Polish Information Processing Society -- as since 2011 01.09.2019
Polish Information Processing Society
Subjects
Calibration
Cameras
Collision avoidance
computer vision
Correlation
depth camera
Drones
Image color analysis
Sensors
stereo
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ISSN2300-5963
DOI10.15439/2019F66

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Summary:Using stereo-based depth cameras outdoors on drones can lead to challenging situations for stereo algorithms calculating a depth map. A false depth value indicating an object close to the drone can confuse obstacle avoidance algorithms and lead to erratic behavior during the drone flight. We analyze the encountered issues from real-world tests together with practical solutions including a post-processing method to modify depth maps against outliers with wring depth values.
ISSN:2300-5963
DOI:10.15439/2019F66