MAV indoor navigation based on a closed-form solution for absolute scale velocity estimation using Optical Flow and inertial data

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2011, Pages 3566-3571

  Lippiello, Vincenzo ^a   Loianno, Giuseppe ^a   Siciliano, Bruno ^a  

^a UNIVERSITY OF NAPLES FEDERICO II   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

AIR NAVIGATION; IMAGE ENHANCEMENT; IMAGE SEGMENTATION; INDOOR POSITIONING SYSTEMS; NAVIGATION; OMNIDIRECTIONAL ANTENNAS; OPTICAL FLOWS; VELOCITY;

CLOSED FORM SOLUTIONS; DEPTH MAP ESTIMATION; IN-DOOR NAVIGATIONS; INERTIAL MEASUREMENTS; MICRO AERIAL VEHICLE; OMNIDIRECTIONAL CAMERAS; SURROUNDING ENVIRONMENT; VEHICLE TRAJECTORIES;

MICRO AIR VEHICLE (MAV);

EID: 84860656018     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2011.6160577     Document Type: Conference Paper

References (19)

1. S.E. Hrabar, Vision-based 3D Navigation for an Autonomous Helicopter, Ph.D. thesis, USC, 2006.
2. L.F. Tammero, V.L.S. Building, D. Of, "The influence of visual landscape on the free flight behavior of the fruit fly drosophila melanogaster", Journal of Experimental Biology, vol. 205, pp. 327-343, 2002.
3. M.V. Srinivasan, S.W. Zhang, M. Lehrer, T.S. Collett, "Honeybee navigation en route to the goal: Visual flight control and odometry", Journal of Experimental Biology, vol. 199, pp. 237-244, 1996.
4. F. Kendoul, I. Fantoni, K. Nonami, "Optic flow-based vision system for autonomous 3D localization and control of small aerial vehicles", Journal of Robotics and Autonomous Systems, vol. 57, pp. 591-602, 2009.
5. J. Serres, D. Dray, F. Ruffier, N. Franceschini, "A vision-based autopilot for a miniature air vehicle: Joint speed control and lateral obstacle avoidance", Autonomous Robots, vol. 25, pp. 103-122, 2008.
6. J.C. Zufferey, A. Klaptocz, A. Beyeler, J.D. Nicoud, D. Floreano, "A 10-gram vision-based flying robot", Advanced Robotics, vol. 21, pp. 1671-1684, 2007.
7. F. Ruffier, N.H. Franceschini, "Aerial robot piloted in steep relief by optic flow sensors", IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, 2008.
8. J. Serres, D. Dray, F. Ruffier, N. Franceschini, "Autonomous landing for indoor flying robots using optic flow", ASME International Mechanical Engineering Congress, Washington, DC, 2003.
9. H.A.P. Selvatici, A.H.R. Costa, "Obstacle avoidance using time-to-contact information", IEEE International Conference on Robotics and Automation, Rome, Italy, 2007.
10. B.R. Call, Obstacle Avoidance for Unmanned Air Vehicles, M.S. thesis, Brigham Young University, 2006.
11. B.R. Call, R. Beard, C. Taylor, B. Barber, "Obstacle avoidance for unmanned air vehicles using image feature tracking", AIAA Guidance, Navigation, and Control Conference, Keystone, CO, 2006.
12. M. Zamponi, Optical Flow Based Navigation, M.S. thesis, ETH Zurich, 2009.
13. C. McCarthy, N. Barnes, M. Srinivasan, "Real time biologically-inspired depth maps from spherical flow", International Journal of Computer Vision, vol. 12, pp. 43-77, 1994.
14. S. Zingg, D. Scaramuzza, S. Weiss, R. Siegwart, "MAV navigation through indoor corridors using optical flow", IEEE International Conference on Robotics and Automation, Anchorage, AK, 2010.
15. L. Kneip, S. Weiss, A. Martinelli, D. Scaramuzza, R. Siegwart, "A closed-form solution for absolute scale velocity determination combining inertial measurements and a single feature correspondence", 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, 2011.
16. D. Scaramuzza, A. Martinelli, R. Siegwart, "Toolbox for easily calibrating omnidirectional cameras", "IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006.
17. B.D. Lucas, T. Kanade, "An iterative image registration technique with an application to stereo vision", International Joint Conference on Artificial Intelligence, Vancouver, Canada, 1981.
18. J.Y. Bouguet, Piramidal Implementation of the Lucas-Kanade Feature Tracker: Description of the Algorithm, Intel Corporation Microprocessor Research Labs, 2002.
19. M. Blösch, S. Weiss, D. Scaramuzza, R. Siegwart, "Vision based MAV navigation in unknown and unstructured environments", IEEE International Conference on Robotics and Automation, Anchorage, AK, 2010.