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Stereo Vision based indoor/outdoor Navigation for Flying Robots

Schmid, Korbinian and Tomić, Teodor and Rueß, Felix and Hirschmüller, Heiko and Suppa, Michael (2013) Stereo Vision based indoor/outdoor Navigation for Flying Robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3955-3962. Intelligent Robots and Systems, IEEE/RSJ International Conference on, 3-8 Nov 2013, Tokyo, Japan.

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Abstract

We introduce our new quadrotor platform for realizing autonomous navigation in unknown indoor/outdoor environments. Autonomous waypoint navigation, obstacle avoidance and flight control is implemented on-board. The system does not require a special environment, artificial markers or an external reference system. We developed a monolithic, mechanically damped perception unit which is equipped with a stereo camera pair, an Inertial Measurement Unit (IMU), two processor-and an FPGA board. Stereo images are processed on the FPGA by the Semi-Global Matching algorithm. Keyframe based stereo odometry is fused with IMU data compensating for time delays that are induced by the vision pipeline. The system state estimate is used for control and on-board 3D mapping. An operator can set waypoints in the map, while the quadrotor autonomously plans its path avoiding obstacles. We show experiments with the quadrotor flying from inside a building to the outside and vice versa, traversing a window and a door respectively. A video of the experiments is part of this work. To the best of our knowledge, this is the first autonomously flying system with complete on-board processing that performs waypoint navigation with obstacle avoidance in geometrically unconstrained, complex indoor/outdoor environments.

Item URL in elib:https://elib.dlr.de/86515/
Document Type:Conference or Workshop Item (Lecture)
Title:Stereo Vision based indoor/outdoor Navigation for Flying Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schmid, Korbiniankorbinian.schmid (at) dlr.deUNSPECIFIED
Tomić, Teodorteodor.tomic (at) dlr.deUNSPECIFIED
Rueß, Felixfelix.ruess (at) dlr.deUNSPECIFIED
Hirschmüller, Heikoheiko.hirschmueller (at) dlr.deUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Date:November 2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 3955-3962
Status:Published
Keywords:visual odometry, uav, navigation, state estimation, stereo odometry
Event Title:Intelligent Robots and Systems, IEEE/RSJ International Conference on
Event Location:Tokyo, Japan
Event Type:international Conference
Event Dates:3-8 Nov 2013
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Tomic, Teodor
Deposited On:11 Dec 2013 15:43
Last Modified:09 Feb 2017 19:19

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