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Paper WeA201.3

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

PIXHAWK: A System for Autonomous Flight Using Onboard Computer Vision

Scheduled for presentation during the Regular Sessions "Aerial Robotics IV" (WeA201), Wednesday, May 11, 2011, 10:35−10:50, Room 3B

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 December 8, 2019

Keywords Aerial Robotics, Visual Navigation, Field Robots

Abstract

We provide a novel hardware and software system for micro air vehicles (MAV) that allows high-speed, low-latency onboard image processing. It uses up to four cameras in parallel on a miniature rotary wing platform. The MAV navigates based on onboard processed computer vision in GPS-denied in- and outdoor environments. It can process in parallel images and inertial measurement information from multiple cameras for multiple purposes (localization, pattern recognition, obstacle avoidance) by distributing the images on a central, low-latency image hub. Furthermore the system can utilize low-bandwith radio links for communication and is designed and optimized to scale to swarm use. Experimental results show successful flight with a range of onboard computer vision algorithms, including localization, obstacle avoidance and pattern recognition.

 

 

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