PIXHAWK: A micro aerial vehicle design for autonomous flight using onboard computer vision View Full Text


Ontology type: schema:ScholarlyArticle      Open Access: True


Article Info

DATE

2012-08

AUTHORS

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

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. More... »

PAGES

21-39

References to SciGraph publications

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s10514-012-9281-4

DOI

http://dx.doi.org/10.1007/s10514-012-9281-4

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1043881385


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