Vision-based autonomous mapping and exploration using a quadrotor MAV

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we describe our autonomous vision-based quadrotor MAV system which maps and explores unknown environments. All algorithms necessary for autonomous mapping and exploration run on-board the MAV. Using a front-looking stereo camera as the main exteroceptive sensor, our quadrotor achieves these capabilities with both the Vector Field Histogram+ (VFH+) algorithm for local navigation, and the frontier-based exploration algorithm. In addition, we implement the Bug algorithm for autonomous wall-following which could optionally be selected as the substitute exploration algorithm in sparse environments where the frontier-based exploration under-performs. We incrementally build a 3D global occupancy map on-board the MAV. The map is used by the VFH+ and frontier-based exploration in dense environments, and the Bug algorithm for wall-following in sparse environments. During the exploration phase, images from the front-looking camera are transmitted over Wi-Fi to the ground station. These images are input to a large-scale visual SLAM process running off-board on the ground station. SLAM is carried out with pose-graph optimization and loop closure detection using a vocabulary tree. We improve the robustness of the pose estimation by fusing optical flow and visual odometry. Optical flow data is provided by a customized downward-looking camera integrated with a microcontroller while visual odometry measurements are derived from the front-looking stereo camera. We verify our approaches with experimental results.

LanguageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages4557-4564
Number of pages8
DOIs
StatusPublished - 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 7 Oct 201212 Oct 2012

Conference

Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period7/10/1212/10/12

Fingerprint

Micro air vehicle (MAV)
Cameras
Optical flows
Wi-Fi
Microcontrollers
Navigation
Sensors

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Fraundorfer, F., Heng, L., Honegger, D., Lee, G. H., Meier, L., Tanskanen, P., & Pollefeys, M. (2012). Vision-based autonomous mapping and exploration using a quadrotor MAV. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 4557-4564). [6385934] DOI: 10.1109/IROS.2012.6385934

Vision-based autonomous mapping and exploration using a quadrotor MAV. / Fraundorfer, Friedrich; Heng, Lionel; Honegger, Dominik; Lee, Gim Hee; Meier, Lorenz; Tanskanen, Petri; Pollefeys, Marc.

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. p. 4557-4564 6385934.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Fraundorfer, F, Heng, L, Honegger, D, Lee, GH, Meier, L, Tanskanen, P & Pollefeys, M 2012, Vision-based autonomous mapping and exploration using a quadrotor MAV. in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012., 6385934, pp. 4557-4564, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 7/10/12. DOI: 10.1109/IROS.2012.6385934
Fraundorfer F, Heng L, Honegger D, Lee GH, Meier L, Tanskanen P et al. Vision-based autonomous mapping and exploration using a quadrotor MAV. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. p. 4557-4564. 6385934. Available from, DOI: 10.1109/IROS.2012.6385934
Fraundorfer, Friedrich ; Heng, Lionel ; Honegger, Dominik ; Lee, Gim Hee ; Meier, Lorenz ; Tanskanen, Petri ; Pollefeys, Marc. / Vision-based autonomous mapping and exploration using a quadrotor MAV. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. pp. 4557-4564
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