LiU Electronic Press
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Author:
Rudol, Piotr (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Wzorek, Mariusz (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Conte, Gianpaolo (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Doherty, Patrick (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Title:
Micro unmanned aerial vehicle visual servoing for cooperative indoor exploration
Department:
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proceedings of the IEEE Aerospace Conference
Conference:
The IEEE Aerospace Conference, March 1-8, Big Sky, Montana, USA
Publisher: IEEE conference proceedings
Series:
Aerospace Conference Proceedings, ISSN 1095-323X; 2008
Year of publ.:
2008
URI:
urn:nbn:se:liu:diva-40869
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-40869
ISBN:
978-1-4244-1487-1
Local ID:
54437
Subject category:
Computer Science
SVEP category:
Computer science
Abstract(en) :

Recent advances in the field of micro unmanned aerial vehicles (MAVs) make flying robots of small dimensions suitable platforms for performing advanced indoor missions. In order to achieve autonomous indoor flight a pose estimation technique is necessary. This paper presents a complete system which incorporates a vision-based pose estimation method to allow a MAV to navigate in indoor environments in cooperation with a ground robot. The pose estimation technique uses a lightweight light emitting diode (LED) cube structure as a pattern attached to a MAV. The pattern is observed by a ground robot's camera which provides the flying robot with the estimate of its pose. The system is not confined to a single location and allows for cooperative exploration of unknown environments. It is suitable for performing missions of a search and rescue nature where a MAV extends the range of sensors of the ground robot. The performance of the pose estimation technique and the complete system is presented and experimental flights of a vertical take-off and landing (VTOL) MAV are described.

Available from:
2009-10-10
Created:
2009-10-10
Last updated:
2011-11-28
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