Motion estimation for autonomous quadrocopter indoor flight

Author

Wunschel, Daniel ; Lange, Sven ; Protzel, Peter

Author_Institution

Dept. of Electr. Eng. & Inf. Technol., Chemnitz Univ. of Technol., Chemnitz, Germany

fYear

2012

fDate

20-23 March 2012

Firstpage

1

Lastpage

6

Abstract

One of the basic requirements for performing an autonomous flight with a Micro Aerial Vehicle (MAV) is to reliably sense the motion relative to its environment. This paper presents a motion estimator for an autonomous quadrotor in indoor environments, without the need for information from an external tracking system. As main sensor a simple, low-cost optical-flow sensor chip is used. Hence, the estimator needs only few resources for post-processing and is intended to be suitable for running on a simple microcontroller.

Keywords

aerospace computing; autonomous aerial vehicles; helicopters; image sensors; image sequences; microcontrollers; microrobots; motion estimation; robot vision; MAV; autonomous quadrocopter indoor flight; low-cost optical-flow sensor chip; micro aerial vehicle; motion estimation; simple microcontroller; Adaptive optics; Cameras; Optical sensors; Optical variables measurement; Tracking; Ultrasonic variables measurement; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Signals and Devices (SSD), 2012 9th International Multi-Conference on

Conference_Location

Chemnitz

Print_ISBN

978-1-4673-1590-6

Electronic_ISBN

978-1-4673-1589-0

Type

conf

DOI

10.1109/SSD.2012.6198060

Filename

6198060