ICRA 2011 Paper Abstract

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Paper TuP214.4

Heng, Lionel (ETH Zurich), Meier, Lorenz (ETH Zurich), Tanskanen, Petri (ETH Zurich), Fraundorfer, Friedrich (ETH Zurich), Pollefeys, Marc (ETH Zurich)

Autonomous Maneuvering and Obstacle Avoidance on a Vision-Guided MAV Using On-Board Processing

Scheduled for presentation during the Regular Sessions "Visual Navigation IV" (TuP214), Tuesday, May 10, 2011, 16:10−16:25, Room 5J

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Visual Navigation, Autonomous Navigation, Aerial Robotics

Abstract

We present a novel stereo-based obstacle avoidance system on a vision-guided micro air vehicle (MAV) that is capable of fully autonomous maneuvers in unknown and dynamic environments. All algorithms run exclusively on the vehicle’s on-board computer, and at high frequencies that allow the MAV to react quickly to obstacles appearing in its flight trajectory. Our MAV platform is a quadrotor aircraft equipped with an inertial measurement unit and two stereo rigs. An obstacle mapping algorithm processes stereo images, producing a 3D map representation of the environment; at the same time, a dynamic anytime path planner plans a collision-free path to a goal point.

 

 

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