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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    Title :

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


    Contributors:

    Published in:

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


    Publication date :

    2012


    Size :

    19 Seiten, 37 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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