Title :
Vision-based pose estimation for autonomous indoor navigation of micro-scale Unmanned Aircraft Systems
Author :
Rudol, Piotr ; Wzorek, Mariusz ; Doherty, Patrick
Author_Institution :
Dept. of Comput. & Inf. Sci., Linkoping Univ., Linkoping, Sweden
Abstract :
We present a navigation system for autonomous indoor flight of micro-scale Unmanned Aircraft Systems (UAS) which is based on a method for accurate monocular vision pose estimation. The method makes use of low cost artificial landmarks placed in the environment and allows for fully autonomous flight with all computation done on-board a UAS on COTS hardware. We provide a detailed description of all system components along with an accuracy evaluation and a time profiling result for the pose estimation method. Additionally, we show how the system is integrated with an existing micro-scale UAS and provide results of experimental autonomous flight tests. To our knowledge, this system is one of the first to allow for complete closed-loop control and goal-driven navigation of a micro-scale UAS in an indoor setting without requiring connection to any external entities.
Keywords :
aircraft control; closed loop systems; navigation; pose estimation; remotely operated vehicles; COTS hardware; autonomous indoor flight; autonomous indoor navigation; closed-loop control; micro-scale unmanned aircraft systems; monocular vision pose estimation; vision-based pose estimation; Aerospace control; Aircraft navigation; Costs; Hardware; Robotics and automation; Sensor fusion; System testing; USA Councils; Unmanned aerial vehicles; Wireless communication;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509203