We describe a novel quadrotor Micro Air Vehicle (MAV) system that is designed to use computer vision algorithms within the flight control loop. The main contribution is a MAV system that is able to run both the vision-based flight control and stereo-vision-based obstacle detection parallelly on an embedded computer onboard the MAV. The system design features the integration of a powerful onboard computer and the synchronization of IMU-Vision measurements by hardware timestamping which allows tight integration of IMU measurements into the computer vision pipeline. We evaluate the accuracy of marker-based visual pose estimation for flight control and demonstrate marker-based autonomous flight including obstacle detection using stereo vision. We also show the benefits of our IMU-Vision synchronization for egomotion estimation in additional experiments where we use the synchronized measurements for pose estimation using the 2pt+gravity formulation of the PnP problem.


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    Titel :

    PIXHAWK: A micro aerial vehicle design for autonomous flight using onboard computer vision


    Beteiligte:
    Meier, Lorenz (Autor:in) / Tanskanen, Petri (Autor:in) / Heng, Lionel (Autor:in) / Lee, Gim Hee (Autor:in) / Fraundorfer, Friedrich (Autor:in) / Pollefeys, Marc (Autor:in)

    Erschienen in:

    Autonomous Robots ; 33 , 1/2 ; 21-39


    Erscheinungsdatum :

    2012


    Format / Umfang :

    19 Seiten, 37 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch





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