This paper is about vision-based autonomous flight of MAVs at night. Despite it being dark almost half of the time, most of the work to date has addressed only daytime operations. Enabling autonomous night-time operation of MAVs with low SWaP on-board sensing capabilities is still an open problem in current robotics research. In this paper, we take a step in this direction and introduce a robust vision-based perception system using thermal-infrared cameras. We present this in the context of safe autonomous landing on rooftop-like structures, and demonstrate the efficacy of our proposed system through extensive real-world flight experiments in outdoor environments at night.


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    Titel :

    Robust Vision-Based Autonomous Navigation, Mapping and Landing for MAVs at Night


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Xiao, Jing (Herausgeber:in) / Kröger, Torsten (Herausgeber:in) / Khatib, Oussama (Herausgeber:in) / Daftry, Shreyansh (Autor:in) / Das, Manash (Autor:in) / Delaune, Jeff (Autor:in) / Sorice, Cristina (Autor:in) / Hewitt, Robert (Autor:in) / Reddy, Shreetej (Autor:in) / Lytle, Daniel (Autor:in)

    Kongress:

    International Symposium on Experimental Robotics ; 2018 ; Buenos Aires, Argentina November 05, 2018 - November 08, 2018



    Erscheinungsdatum :

    2020-01-23


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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