Publication: Aggressive quadrotor flight through narrow gaps with onboard sensing and computing using active vision
Aggressive quadrotor flight through narrow gaps with onboard sensing and computing using active vision
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Falanga, D., Müggler, E., Fässler, M., & Scaramuzza, D. (2017). Aggressive quadrotor flight through narrow gaps with onboard sensing and computing using active vision. 1–8. https://doi.org/10.1109/icra.2017.7989679
Abstract
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We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap position and orientation in the world reference frame, we rely solely on onboard sensing and computing and estimate the full state by fusing gap detection from a single onboard camera with an IMU. This problem is challenging for two reasons: (i) the quadrotor pose uncertainty with respect to the gap
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- Falanga, Davide
- Müggler, Elias
- Fässler, Matthias
- Scaramuzza, Davide
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Falanga, D., Müggler, E., Fässler, M., & Scaramuzza, D. (2017). Aggressive quadrotor flight through narrow gaps with onboard sensing and computing using active vision. 1–8. https://doi.org/10.1109/icra.2017.7989679
