Foresight: Remote sensing for autonomous vehicles using a small unmanned aerial vehicle

Alex Wallar, Brandon Araki, Raphael Chang, Javier Alonso Mora, Daniela Rus

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

A large number of traffic accidents, especially those involving vulnerable road users such as pedestrians and cyclists, are due to blind spots for the driver, for example when a vehicle takes a turn with poor visibility or when a pedestrian crosses from behind a parked vehicle. In these accidents, the consequences for the vulnerable road users are dramatic. Autonomous cars have the potential to drastically reduce traffic accidents thanks to high-performance sensing and reasoning. However, their perception capabilities are still limited to the field of view of their sensors. We propose to extend the perception capabilities of a vehicle, autonomous or human-driven, with a small Unmanned Aerial Vehicle (UAV) capable of taking off from the car, flying around corners to gather additional data from blind spots and landing back on the car after a mission. We present a holistic framework to detect blind spots in the map that is built by the car, plan an informative path for the drone, and detect potential threats occluded to the car. We have tested our approach with an autonomous car equipped with a drone.
Original languageEnglish
Title of host publicationField and Service Robotics
Subtitle of host publicationResults of the 11th International Conference
EditorsMarco Hutter, Roland Siegwart
Place of PublicationCham, Switzerland
PublisherSpringer
Pages591-604
ISBN (Electronic)978-3-319-67361-5
ISBN (Print)978-3-319-67360-8
DOIs
Publication statusPublished - 2017
EventFSR 2017: 11th International Conference on Field and Service Robotics - Zürich, Switzerland
Duration: 12 Sep 201715 Sep 2017

Publication series

NameSpringer Proceedings in Advanced Robotics (SPAR)
Volume5
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264

Conference

ConferenceFSR 2017: 11th International Conference on Field and Service Robotics
CountrySwitzerland
CityZürich
Period12/09/1715/09/17

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