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Performance Evaluation of Vision-Based Algorithms for MAVs

Holzmann, Thomas and Prettenthaler, Rudolf and Pestana, Jesus and Muschick, Daniel and Mostengel, Christian and Fraundorfer, Friedrich and Bischof, Horst and Graber, Gottfried (2015) Performance Evaluation of Vision-Based Algorithms for MAVs. In: Proceedings of The 39th Annual Workshop of the Austrian Association for Pattern Recognition (OAGM), 2015, pp. 1-8. OAGM Workshop 2015, 28-29 May 2015, Salzburg, Austria.

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Official URL: http://arxiv.org/abs/1505.02247

Abstract

An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable algorithms for localization and mapping of the environment are necessary in order to keep an MAV airborne safely. In this paper, we compare vision-based real-time capable methods for localization and mapping and point out their strengths and weaknesses. Additionally, we describe algorithms for state estimation, control and navigation, which use the localization and mapping results of our vision-based algorithms as input.

Item URL in elib:https://elib.dlr.de/100598/
Document Type:Conference or Workshop Item (Speech)
Title:Performance Evaluation of Vision-Based Algorithms for MAVs
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Holzmann, ThomasInstitut für Computer Graphics and Visions, Graz, AustriaUNSPECIFIED
Prettenthaler, RudolfInstitut für Computer Graphics and Vision, Graz, AustriaUNSPECIFIED
Pestana, JesusInstitut für Computer Graphics and Vision, Graz, AustriaUNSPECIFIED
Muschick, DanielInstitut of Automation and Control, Graz, AustriaUNSPECIFIED
Mostengel, ChristianInstitut für Computer Graphics and Vision, Graz, AustriaUNSPECIFIED
Fraundorfer, Friedrichfriedrich.fraundorfer (at) dlr.deUNSPECIFIED
Bischof, HorstInstitut für Computer Graphics and Vision, Graz, AustriaUNSPECIFIED
Graber, GottfriedInstitut für Computer Graphics and Vision, GrazUNSPECIFIED
Date:May 2015
Journal or Publication Title:Proceedings of The 39th Annual Workshop of the Austrian Association for Pattern Recognition (OAGM), 2015
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 1-8
Status:Published
Keywords:Performance Evaluation, MAVs
Event Title:OAGM Workshop 2015
Event Location:Salzburg, Austria
Event Type:international Conference
Event Dates:28-29 May 2015
Organizer:Austrian Association for Pattern Recognition
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Vabene++ (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Remote Sensing Technology Institute > Photogrammetry and Image Analysis
Deposited By:INVALID USER
Deposited On:11 Dec 2015 17:02
Last Modified:31 Jul 2019 19:57

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