PIXHAWK -A micro aerial vehicle design for autonomous flight using onboard computer vision

Lorenz Meier, Petri Tanskanen, Lionel Heng, Gim Hee Lee, Friedrich Fraundorfer, Marc Pollefeys

Publikation: Beitrag in einer FachzeitschriftArtikelForschungBegutachtung

Abstract

We describe a novel quadrotor Micro Air Vehicle (MAV) system that is designed to use computer vision algorithms within the flight control loop. The main contribution is a MAV system that is able to run both the vision-based flight control and stereo-vision-based obstacle detection parallelly on an embedded computer onboard the MAV. The system design features the integration of a powerful onboard computer and the synchronization of IMU-Vision measurements by hardware timestamping which allows tight integration of IMU measurements into the computer vision pipeline. We evaluate the accuracy of marker-based visual pose estimation for flight control and demonstrate marker-based autonomous flight including obstacle detection using stereo vision. We also show the benefits of our IMU-Vision synchronization for egomotion estimation in additional experiments where we use the synchronized measurements for pose estimation using the 2pt+gravity formulation of the PnP problem.

Originalspracheenglisch
Seiten (von - bis)21-39
Seitenumfang19
FachzeitschriftAutonomous Robots
Jahrgang33
Ausgabenummer1-2
DOIs
PublikationsstatusVeröffentlicht - Aug 2012

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Micro air vehicle (MAV)
Computer vision
Stereo vision
Antennas
Synchronization
Gravitation
Pipelines
Systems analysis
Hardware
Experiments

Schlagwörter

    ASJC Scopus subject areas

    • Artificial intelligence

    Dies zitieren

    PIXHAWK -A micro aerial vehicle design for autonomous flight using onboard computer vision. / Meier, Lorenz; Tanskanen, Petri; Heng, Lionel; Lee, Gim Hee; Fraundorfer, Friedrich; Pollefeys, Marc.

    in: Autonomous Robots, Jahrgang 33, Nr. 1-2, 08.2012, S. 21-39.

    Publikation: Beitrag in einer FachzeitschriftArtikelForschungBegutachtung

    Meier, Lorenz ; Tanskanen, Petri ; Heng, Lionel ; Lee, Gim Hee ; Fraundorfer, Friedrich ; Pollefeys, Marc. / PIXHAWK -A micro aerial vehicle design for autonomous flight using onboard computer vision. in: Autonomous Robots. 2012 ; Jahrgang 33, Nr. 1-2. S. 21-39.
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    AU - Fraundorfer, Friedrich

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