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ICRA
2010
IEEE

Vision based MAV navigation in unknown and unstructured environments

9 years 9 months ago
Vision based MAV navigation in unknown and unstructured environments
— Within the research on Micro Aerial Vehicles (MAVs), the field on flight control and autonomous mission execution is one of the most active. A crucial point is the localization of the vehicle, which is especially difficult in unknown, GPS-denied environments. This paper presents a novel vision based approach, where the vehicle is localized using a downward looking monocular camera. A state-of-theart visual SLAM algorithm tracks the pose of the camera, while, simultaneously, building an incremental map of the surrounding region. Based on this pose estimation a LQG/LTR based controller stabilizes the vehicle at a desired setpoint, making simple maneuvers possible like take-off, hovering, setpoint following or landing. Experimental data show that this approach efficiently controls a helicopter while navigating through an unknown and unstructured environment. To the best of our knowledge, this is the first work describing a micro aerial vehicle able to navigate through an unexplor...
Michael Blösch, Stephan Weiss, Davide Scaramu
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Michael Blösch, Stephan Weiss, Davide Scaramuzza, Roland Siegwart
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