Search
Results
-
Autonomous obstacle avoidance and maneuvering on a vision-guided MAV using on-board processing
(2011)2011 IEEE International Conference on Robotics and Automation (ICRA)We present a novel stereo-based obstacle avoidance system on a vision-guided micro air vehicle (MAV) that is capable of fully autonomous maneuvers in unknown and dynamic environments. All algorithms run exclusively on the vehicle's on-board computer, and at high frequencies that allow the MAV to react quickly to obstacles appearing in its flight trajectory. Our MAV platform is a quadrotor aircraft equipped with an inertial measurement ...Conference Paper -
Real-Time photo-realistic 3D mapping for micro aerial vehicles
(2011)2011 IEEE/RSJ International Conference on Intelligent Robots and SystemsWe present a real-time photo-realistic 3D mapping framework for micro aerial vehicles (MAVs). RGBD images are generated from either stereo or structured light cameras, and fed into the processing pipeline. A visual odometry algorithm runs on-board the MAV. We improve the computational performance of the visual odometry by using the IMU readings to establish a 1-point RANSAC instead of using the standard 3-point RANSAC to estimate the ...Conference Paper