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.
Robust Vision-Based Autonomous Navigation, Mapping and Landing for MAVs at Night
Springer Proceedings in Advanced Robotics
International Symposium on Experimental Robotics ; 2018 ; Buenos Aires, Argentina November 05, 2018 - November 08, 2018
Proceedings of the 2018 International Symposium on Experimental Robotics ; Kapitel : 21 ; 232-242
2020-01-23
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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