Development of a Stereo Camera-Based Autonomous Obstacle Avoidance Drone System 


Vol. 50,  No. 11, pp. 1760-1770, Nov.  2025
10.7840/kics.2025.50.11.1760


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  Abstract

Recently, research on utilizing drones for reconnaissance, search, and rescue operations has been on the rise. The existing studies primarily rely on 3D LiDAR and precise SLAM-based systems to achieve high accuracy. However, However, they face limitations due to the weight and cost of these sensors, making them unsuitable for small drones. Additionally, these systems are often designed and validated on flat terrains, restricting their performance in complex environments. This paper proposes a cost-effective autonomous obstacle avoidance drone system that integrates stereo cameras and range sensors. As a practical alternative to expensive 3D LiDAR, the proposed system reduces sensor configuration and system complexity while enabling stable flight in challenging terrains such as slopes and forests. Additionally, by applying an obstacle inflation technique, the system achieves obstacle avoidance performance comparable to that of 3D LiDAR-based systems. The key contributions of this study are as follows. First, the system achieves 3D LiDAR-level obstacle detection and terrain tracking performance using only stereo cameras and range sensors. Second, unlike prior studies focused on flat terrains, the proposed algorithms are validated in complex environments, including steep slopes and forested areas, demonstrating robustness. Third, the system is designed based on PX4 and ROS2, ensuring high scalability and reusability by employing a consistent system across both simulations and real-world flight environments. This paper begins by analyzing the limitations of existing research, followed by a detailed explanation of the proposed obstacle detection and autonomous avoidance system's algorithms and architecture. The system’s performance is validated through both simulation and real-world flight experiments.

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  Cite this article

[IEEE Style]

S. Song, C. Ji, M. Kim, G. Lim, T. Joe, S. Moon, "Development of a Stereo Camera-Based Autonomous Obstacle Avoidance Drone System," The Journal of Korean Institute of Communications and Information Sciences, vol. 50, no. 11, pp. 1760-1770, 2025. DOI: 10.7840/kics.2025.50.11.1760.

[ACM Style]

Si-woon Song, Chang-hun Ji, Min-kyu Kim, Gyeong-hun Lim, Tae-hyeon Joe, and Sung-tae Moon. 2025. Development of a Stereo Camera-Based Autonomous Obstacle Avoidance Drone System. The Journal of Korean Institute of Communications and Information Sciences, 50, 11, (2025), 1760-1770. DOI: 10.7840/kics.2025.50.11.1760.

[KICS Style]

Si-woon Song, Chang-hun Ji, Min-kyu Kim, Gyeong-hun Lim, Tae-hyeon Joe, Sung-tae Moon, "Development of a Stereo Camera-Based Autonomous Obstacle Avoidance Drone System," The Journal of Korean Institute of Communications and Information Sciences, vol. 50, no. 11, pp. 1760-1770, 11. 2025. (https://doi.org/10.7840/kics.2025.50.11.1760)
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pISSN : 1226 - 4717
eISSN : 2287 - 3880