Visual Navigation for Micro Air Vehicles
نویسندگان
چکیده
Recent advances in state estimation, planning, mapping, and control algorithms combined with ever-increasing computational power available onboard micro air vehicles have enabled a number of researchers to demonstrate advanced autonomous capabilities in GPS-denied environments. Much of this work has focused around the use of laser range-finder sensors, however the use of a 2D sensor in a 3D environment requires a number of assumptions that limit the ability of the MAV to operate in unconstrained environments. In this talk, we describe a system for visual odometry and mapping using a stereo or RGB-D camera. By leveraging results from recent state-of-the-art algorithms and hardware, our system enables 3D flight and planning in cluttered environments using only onboard sensor data.
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