This study describes the design and implementation of several bioinspired algorithms for providing guidance to an ultra-lightweight micro-aerial vehicle (MAV) using a 2.6 g omnidirectional vision sensor. Using this visual guidance system we demonstrate autonomous speed control, centring, and heading stabilisation on board a 30 g MAV flying in a corridorlike environment. In addition to the computation of wide-field optic flow, the comparatively high-resolution omnidirectional imagery provided by this sensor also offers the potential for image-based algorithms such as landmark recognition to be implemented in the future.


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    Title :

    Autonomous MAV guidance with a lightweight omnidirectional vision sensor


    Contributors:


    Publication date :

    2014-05-01


    Size :

    823625 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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