Camera-Based Navigation of a Low-Cost Quadrocopter
| Venue: | in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS |
| Citations: | 28 - 6 self |
BibTeX
@INPROCEEDINGS{Engel_camera-basednavigation,
author = {Jakob Engel and Jürgen Sturm and Daniel Cremers},
title = {Camera-Based Navigation of a Low-Cost Quadrocopter},
booktitle = {in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS},
year = {},
pages = {2815--2821}
}
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Abstract
Abstract — In this paper, we describe a system that enables a low-cost quadrocopter coupled with a ground-based laptop to navigate autonomously in previously unknown and GPSdenied environments. Our system consists of three components: a monocular SLAM system, an extended Kalman filter for data fusion and state estimation and a PID controller to generate steering commands. Next to a working system, the main contribution of this paper is a novel, closed-form solution to estimate the absolute scale of the generated visual map from inertial and altitude measurements. In an extensive set of experiments, we demonstrate that our system is able to navigate in previously unknown environments at absolute scale without requiring artificial markers or external sensors. Furthermore, we show (1) its robustness to temporary loss of visual tracking and significant delays in the communication process, (2) the elimination of odometry drift as a result of the visual SLAM system and (3) accurate, scale-aware pose estimation and navigation. I.
Keyphrases
low-cost quadrocopter camera-based navigation absolute scale unknown environment working system odometry drift generated visual map closed-form solution altitude measurement communication process main contribution temporary loss gpsdenied environment pid controller scale-aware pose estimation monocular slam system significant delay extended kalman filter external sensor ground-based laptop data fusion artificial marker visual tracking state estimation visual slam system extensive set
