NDLI: Towards Autonomous Navigation of Miniature UAV

Content Provider	IEEE Xplore Digital Library
Author	Brockers, R. Hummenberger, M. Weiss, S. Matthies, L.
Copyright Year	2014
Abstract	Micro air vehicles such as miniature rotorcrafts require high-precision and fast localization updates for their control, but cannot carry large payloads. Therefore, only small and light-weight sensors and processing units can be deployed on such platforms, favoring vision-based solutions that use light weight cameras and run on small embedded computing platforms. In this paper, we propose a navigation framework to provide a small quadrotor UAV with accurate state estimation for high speed control including 6DoF pose and sensor self-calibration. Our method allows very fast deployment without prior calibration procedures literally rendering the vehicle a throw-and-go platform. Additionally, we demonstrate hazard-avoiding autonomous landing to showcase a high-level navigation capability that relies on the low-level pose estimation results and is executed on the same embedded platform. We explain our hardware-specific implementation on a 12g processing unit and show real-world end-to-end results.
Sponsorship	IEEE Comput. Soc.
Starting Page	645
Ending Page	651
File Size	1223906
Page Count	7
File Format	PDF
ISBN	9781479943081
ISSN	21607516
DOI	10.1109/CVPRW.2014.98
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-06-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computers Micro Air Vehicle autonomous landing Three-dimensional displays Navigation autonomous navigation embedded computing vision based state estimation Estimation Cameras Sensors Vehicles
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in