Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments
Name
Achtelik-2009-Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments.pdf
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Author(s)
Prentice, Samuel James
He, Ruijie
Bachrach, Abraham Galton
Achtelik, Markus Wilhelm
Roy, Nicholas
Date Issued
April 2009
Journal
Proceedings of SPIE
Publisher
SPIE
Citation
Achtelik, Markus et al. “Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments.” Unmanned Systems Technology XI. Ed. Grant R. Gerhart, Douglas W. Gage, & Charles M. Shoemaker. Orlando, FL, USA: SPIE, 2009. 733219-10. © 2009 SPIE--The International Society for Optical Engineering
Version
Final published version
Abstract
This paper presents our solution for enabling a quadrotor helicopter to autonomously navigate unstructured and unknown indoor environments. We compare two sensor suites, specifically a laser rangefinder and a stereo camera. Laser and camera sensors are both well-suited for recovering the helicopter's relative motion and velocity. Because they use different cues from the environment, each sensor has its own set of advantages and limitations that are complimentary to the other sensor. Our eventual goal is to integrate both sensors on-board a single helicopter platform, leading to the development of an autonomous helicopter system that is robust to generic indoor environmental conditions. In this paper, we present results in this direction, describing the key components for autonomous navigation using either of the two sensors separately.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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DOI of Published Version
http://dx.doi.org/10.1117/12.819082
