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Continuous on-board monocular-vision-based elevation mapping applied to autonomous landing of micro aerial vehicles


Forster, Christian; Faessler, Matthias; Fontana, Flavio; Werlberger, Manuel; Scaramuzza, Davide (2015). Continuous on-board monocular-vision-based elevation mapping applied to autonomous landing of micro aerial vehicles. In: IEEE International Conference on Robotics and Automation (ICRA), Seattle WA, 26 May 2015 - 30 May 2015, 111-118.

Abstract

In this paper, we propose a resource-efficient system for real-time 3D terrain reconstruction and landing-spot detection for micro aerial vehicles. The system runs on an on-board smartphone processor and requires only the input of a single downlooking camera and an inertial measurement unit. We generate a two-dimensional elevation map that is probabilistic, of fixed size, and robot-centric, thus, always covering the area immediately underneath the robot. The elevation map is continuously updated at a rate of 1 Hz with depth maps that are triangulated from multiple views using recursive Bayesian estimation. To highlight the usefulness of the proposed mapping framework for autonomous navigation of micro aerial vehicles, we successfully demonstrate fully autonomous landing including landing-spot detection in real-world experiments.

Abstract

In this paper, we propose a resource-efficient system for real-time 3D terrain reconstruction and landing-spot detection for micro aerial vehicles. The system runs on an on-board smartphone processor and requires only the input of a single downlooking camera and an inertial measurement unit. We generate a two-dimensional elevation map that is probabilistic, of fixed size, and robot-centric, thus, always covering the area immediately underneath the robot. The elevation map is continuously updated at a rate of 1 Hz with depth maps that are triangulated from multiple views using recursive Bayesian estimation. To highlight the usefulness of the proposed mapping framework for autonomous navigation of micro aerial vehicles, we successfully demonstrate fully autonomous landing including landing-spot detection in real-world experiments.

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5 citations in Web of Science®
8 citations in Scopus®
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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Event End Date:30 May 2015
Deposited On:20 May 2015 14:37
Last Modified:17 Aug 2017 00:40
Publisher:Institute of Electrical and Electronics Engineers (IEEE)
Free access at:Official URL. An embargo period may apply.
Publisher DOI:https://doi.org/10.1109/ICRA.2015.7138988
Official URL:http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7138988
Other Identification Number:merlin-id:12005

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