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We present a novel on-board perception system for collision avoidance by micro air vehicles (MAV). An egocentric cylindrical representation is utilized to model the world using forward-looking stereo vision. This efficient representation enables a 360° field of regard, as the vehicle moves around and disparity maps are fused temporally on the cylindrical map. For this purpose, we developed a new Gaussian...
Sensing the 3D environment of a moving robot is essential for collision avoidance. Most 3D sensors produce dense depth maps, which are subject to imperfections due to various environmental factors. Temporal fusion of depth maps is crucial to overcome those. Temporal fusion is traditionally done in 3D space with voxel data structures, but it can be approached by temporal fusion in image space, with...
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