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

Research output: Contribution to journalArticleResearchpeer-review

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.

Original languageEnglish
Pages (from-to)21-39
Number of pages19
JournalAutonomous Robots
Volume33
Issue number1-2
DOIs
Publication statusPublished - Aug 2012

Fingerprint

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

Keywords

  • Computer vision
  • Micro aerial vehicles
  • Quadrotor
  • Stereo vision

ASJC Scopus subject areas

  • Artificial Intelligence

Cite this

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, Vol. 33, No. 1-2, 08.2012, p. 21-39.

Research output: Contribution to journalArticleResearchpeer-review

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 ; Vol. 33, No. 1-2. pp. 21-39.
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