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Computer Vision for MAVs

Fraundorfer, Friedrich (2017) Computer Vision for MAVs. In: Computer Vision in Vehicle Technology: Land, Sea & Air John Wiley & Sons Ltd. pp. 55-74. ISBN 9781118868072.

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Official URL: http://onlinelibrary.wiley.com/doi/10.1002/9781118868065.ch3/summary


This chapter discusses recent advances in the use of computer vision for the control of micro aerial vehicles (MAVs). It provides a brief overview of system design and sensors of a MAV. The system design described is from the Pixhawk MAV platform. In most approaches, ego-motion estimation is achieved by fusing information from an inertial measurement unit (IMU) with visual measurements. State estimation is a filtering approach using an extended Kalman filter (EKF) for fusing inertial and vision measurements. The vehicle pose is represented by the pose of the IMU within the world coordinate frame. The camera sensor is the offset of the IMU coordinate frame by a rotation and translation. The big advantage of stereo vision is that the metric scale of camera poses and 3D points can be computed directly. The use of optical flow for controlling MAVs has been popularized with the appearance of Parrot's AR Drone.

Item URL in elib:https://elib.dlr.de/116066/
Document Type:Book Section
Title:Computer Vision for MAVs
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Fraundorfer, Friedrichfriedrich.fraundorfer (at) dlr.deUNSPECIFIED
Date:10 February 2017
Journal or Publication Title:Computer Vision in Vehicle Technology: Land, Sea & Air
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1002/9781118868065.ch3
Page Range:pp. 55-74
López, Antonio M.Computer Vision Center (CVC) and Universitat Autònoma de Barcelona, Spain
Imiya, AtsushiChiba University, Japan
Pajdla, ThomasCzech Technical University, Czech Republic
Álvarez, Jose M.National Information Communications Technology Australia (NICTA), Canberra Research Laboratory, Australia
Publisher:John Wiley & Sons Ltd
Keywords:camera sensor; computer vision; ego-motion estimation; inertial measurement unit; micro aerial vehicles; optical flow; Pixhawk MAV platform; state estimation; vehicle pose
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Remote Sensing Technology Institute > Photogrammetry and Image Analysis
Deposited By: Zielske, Mandy
Deposited On:29 Nov 2017 17:23
Last Modified:12 Mar 2018 11:06

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