ICRA 2011 Paper Abstract


Paper WeA203.3

Achtelik, Markus (ETH Zurich, Autonomous Systems Lab), Achtelik, Michael (Technical University of Munich), Weiss, Stephan (ETH Zurich), Siegwart, Roland (ETH Zurich)

Onboard IMU and Monocular Vision Based Control for MAVs in Unknown in and Outdoor Environments

Scheduled for presentation during the Regular Sessions "Autonomous Navigation IV" (WeA203), Wednesday, May 11, 2011, 10:35−10:50, Room 3D

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 July 14, 2020

Keywords Autonomous Navigation, Sensor Fusion, Aerial Robotics


In this paper we present our latest achievements towards the goal of autonomous flights of an MAV in unknown environments, only having a monocular camera as exteroceptive sensor. As MAVs are highly agile, it is not sufficient to directly use the visual input for position control at the framerates that can be achieved with small onboard computers. Our contributions in this work are twofold. First, we present a solution to overcome the issue of having a low frequent onboard visual pose update versus the high agility of an MAV. This is solved by filtering visual information with inputs from inertial sensors. Second, as our system is based on monocular vision, we present a solution to estimate the metric visual scale aid of an air pressure sensor. All computation is running onboard and is tightly integrated on the MAV to avoid jitter and latencies. This framework enables stable flights indoors and outdoors even under windy conditions.



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