Towards Full Omnidirectional Depth Sensing Using Active Vision for Small Unmanned Aerial Vehicles

Collision avoidance for small unmanned aerial vehicles operating in a variety of environments is limited by the types of available depth sensors. Currently, there are no sensors that are lightweight, function outdoors in sunlight, and cover enough of a field of view to be useful in complex environments, although many sensors excel in one or two of these areas. We present a new depth estimation method, based on concepts from multi-view stereo and structured light methods, that uses only lightweight miniature cameras and a small laser dot matrix projector to produce measurements in the range of 1-12 meters. The field of view of the system is limited only by the number and type of cameras/projectors used, and can be fully Omni directional if desired. The sensitivity of the system to design and calibration parameters is tested in simulation, and results from a functional prototype are presented.