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

fYear

2011

fDate

9-13 May 2011

Firstpage

2972

Lastpage

2973

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5980460

Filename

5980460