ICRA 2011 Paper Abstract


Paper WeAV115.7

Morris, William (City College of New York), Dryanovski, Ivan (The Graduate Center, The City University of New York (CUNY)), Xiao, Jizhong (City College of New York)

CityFlyer: Progress Toward Autonomous MAV Navigation and 3D Mapping

Scheduled for presentation during the Video Sessions "Video Session I: Aerial and Mobile Robotics" (WeAV115), Wednesday, May 11, 2011, 09:08−09:16, Room 3A

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 Aerial Robotics, Localization, Mapping


This video demonstrates the progress of the CityFlyer project. The goal of the project is to develop an autonomous quadrotor helicopter capable of autonomous flight in indoor and outdoor 3D environments such as hallways, stairwells, forests, caves and tunnels. Currently we are focused on developing 3D mapping and navigation capabilities for rectilinear environments. This video shows our 6 Degree of Freedom pose estimation system, a novel 3D map structure called Multi Volume Occupancy Grids or MVOGs, and the development of a ground station.



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