ICRA 2011 Paper Abstract


Paper ThP114.2

Bills, Cooper (Cornell University), Chen, Yu-hsin (Cornell University), Saxena, Ashutosh (Cornell University)

Autonomous MAV Flight in Indoor Environments using Single Image Perspective Cues

Scheduled for presentation during the Regular Sessions "Computer Vision III Navigation" (ThP114), Thursday, May 12, 2011, 13:55−14:10, 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 August 19, 2019

Keywords Computer Vision for Robotics and Automation, Aerial Robotics, Visual Navigation


We consider the problem of autonomously flying Miniature Aerial Vehicles (MAVs) in indoor environments such as home and office buildings. The primary long range sensor in these MAVs is a miniature camera. While previous approaches first try to build a 3D model in order to do planning and control, our method neither attempts to build nor requires a 3D model. Instead, our method first classifies the type of indoor environment the MAV is in, and then uses vision algorithms based on perspective cues to estimate the desired direction to fly. We test our method on two MAV platforms: a co-axial miniature helicopter and a toy quadrotor. Our experiments show that our vision algorithms are quite reliable, and they enable our MAVs to fly in a variety of corridors and staircases.



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