Title :
CityFlyer: Progress toward autonomous MAV navigation and 3D mapping
Author :
Morris, William ; Dryanovski, Ivan ; Xiao, Jizhong
Author_Institution :
Electr. Eng. Dept., City Coll. of New York, New York, NY, USA
Abstract :
This video demonstrates the progress of the CityFlyer project. The goal of the project is to develop an autonomous quadrotor helicopter capable of autonomous flight in indoor and outdoor 3D environments such as hallways, stairwells, forests, caves and tunnels. Currently we are focused on developing 3D mapping and navigation capabilities for indoor environments. This video shows our 6 Degree of Freedom pose estimation system, a novel 3D map structure called Multi Volume Occupancy Grids, and the development of a groundstation.
Keywords :
aerospace robotics; aircraft navigation; helicopters; microrobots; mobile robots; pose estimation; remotely operated vehicles; rotors; 3D map structure; 3D mapping; 6 degree of freedom pose estimation system; CityFlyer project; autonomous MAV navigation; autonomous flight; autonomous quadrotor helicopter; groundstation; indoor 3D environment; multivolume occupancy grid; outdoor 3D environment; Conferences; Estimation; Robot sensing systems; Three dimensional displays; Vehicles;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5980460
