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Autonomous Vision-based Micro Air Vehicle for Indoor and Outdoor Navigation

Schmid, Korbinian and Lutz, Philipp and Tomić, Teodor and Mair, Elmar and Hirschmüller, Heiko (2014) Autonomous Vision-based Micro Air Vehicle for Indoor and Outdoor Navigation. Journal of Field Robotics, 31 (4), pp. 537-570. Wiley. doi: 10.1002/rob.21506. ISSN 1556-4959.

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Official URL: http://dx.doi.org/10.1002/rob.21506


Micro air vehicles have become very popular in recent years. Autonomous navigation of such systems plays an important role in many industrial applications as well as in search-and-rescue scenarios. We present a quadrotor that performs autonomous navigation in complex indoor and outdoor environments. An operator selects target positions in the onboard map and the system autonomously plans an obstacle-free path and flies to these locations. An onboard stereo camera and inertial measurement unit are the only sensors. The system is independent of external navigation aids such as GPS. No assumptions are made about the structure of the unknown environment. All navigation tasks are implemented onboard the system. A wireless connection is only used for sending images and a three-dimensional (3D) map to the operator and to receive target locations. We discuss the hardware and software setup of the system in detail. Highlights of the implementation are the field-programmable-gate-array-based dense stereo matching of 0.5 Mpixel images at a rate of 14.6 Hz using semiglobal matching, locally drift-free visual odometry with key frames, and sensor data fusion with compensation of measurement delays of 220 ms. We show the robustness of the approach in simulations and experiments with ground truth. We present the results of a complex, autonomous indoor/outdoor flight and the exploration of a coal mine with obstacle avoidance and 3D mapping.

Item URL in elib:https://elib.dlr.de/93577/
Document Type:Article
Title:Autonomous Vision-based Micro Air Vehicle for Indoor and Outdoor Navigation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Schmid, Korbiniankorbinian.schmid (at) dlr.deUNSPECIFIED
Lutz, Philippphilipp.lutz (at) dlr.deUNSPECIFIED
Tomić, Teodorteodor.tomic (at) dlr.deUNSPECIFIED
Hirschmüller, Heikoheiko.hirschmueller (at) dlr.deUNSPECIFIED
Date:July 2014
Journal or Publication Title:Journal of Field Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1002/rob.21506
Page Range:pp. 537-570
Series Name:Special Issue on Low Altitude Flight of UAVs
Keywords:Multicopter, autonomous navigation, sensor data fusion, search and rescue, MAV, visual navigation, mapping
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Schmid, Korbinian
Deposited On:07 Jan 2015 14:09
Last Modified:06 Sep 2019 15:20

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