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, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group ) (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:
Vision-based Pose Estimation for Autonomous Indoor Navigation of Micro-scale Unmanned Aircraft Systems
Department:
Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group
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 2010 IEEE International Conference on Robotics and Automation (ICRA)
Conference:
2010 IEEE International Conference on Robotics and Automation, May 3-8, Anchorage, Alaska, USA
Publisher: IEEE conference proceedings
Series:
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729; 2010
Pages:
1913-1920
Year of publ.:
2010
URI:
urn:nbn:se:liu:diva-60006
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-60006
ISBN:
978-1-4244-5038-1
Subject category:
Computer Science
SVEP category:
Computer science
Keywords(en) :
UAV, UAS, UAS indoor navigation
Abstract(en) :

We present a navigation system for autonomous indoor flight of micro-scale Unmanned Aircraft Systems (UAS) which is based on a method for accurate monocular vision pose estimation. The method makes use of low cost artificial landmarks placed in the environment and allows for fully autonomous flight with all computation done on-board a UAS on COTS hardware. We provide a detailed description of all system components along with an accuracy evaluation and a time profiling result for the pose estimation method. Additionally, we show how the system is integrated with an existing micro-scale UAS and provide results of experimental autonomous flight tests. To our knowledge, this system is one of the first to allow for complete closed-loop control and goal-driven navigation of a micro-scale UAS in an indoor setting without requiring connection to any external entities.

Available from:
2010-10-04
Created:
2010-10-04
Last updated:
2011-11-28
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67 hits