NDLI: Onboard IMU and monocular vision based control for MAVs in unknown in- and outdoor environments

Content Provider	IEEE Xplore Digital Library
Author	Achtelik, M. Achtelik, M. Weiss, S. Siegwart, R.
Copyright Year	2011
Description	Author affiliation: ETH Zurich, Germany (Achtelik, M.; Weiss, S.; Siegwart, R.) \|\| Ascending Technologies GmbH, Germany (Achtelik, M.)
Abstract	In this paper, we present our latest achievements towards the goal of autonomous flights of an MAV in unknown environments, only having a monocular camera as exteroceptive sensor. As MAVs are highly agile, it is not sufficient to directly use the visual input for position control at the framerates that can be achieved with small onboard computers. Our contributions in this work are twofold. First, we present a solution to overcome the issue of having a low frequent onboard visual pose update versus the high agility of an MAV. This is solved by filtering visual information with inputs from inertial sensors. Second, as our system is based on monocular vision, we present a solution to estimate the metric visual scale aid of an air pressure sensor. All computation is running onboard and is tightly integrated on the MAV to avoid jitter and latencies. This framework enables stable flights indoors and outdoors even under windy conditions.
Starting Page	3056
Ending Page	3063
File Size	1739181
Page Count	8
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980343
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Visualization Pressure measurement Vehicles Computers Acceleration Simultaneous localization and mapping
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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