Memorias de investigación
Communications at congresses:
Efficient Visual Odometry and Mapping for Unmanned Aerial Vehicle Using ARM-based Stereo Vision Pre-Processing System
Year:2015

Research Areas
  • Electric engineers, electronic and automatic (eil)

Information
Abstract
Visual odometry and mapping methods can provide accurate navigation and comprehensive environment (obstacle) information for autonomous flights of Unmanned Aerial Vehicle (UAV) in GPS-denied cluttered environments. This work presents a new light small-scale low-cost ARM-based stereo vision pre-processing system, which not only is used as onboard sensor to continuously estimate 6-DOF UAV pose, but also as onboard assistant computer to pre-process visual information, thereby saving more computational capability for the onboard host computer of the UAV to conduct other tasks. The visual odometry is done by one plugin specifically developed for this new system with a fixed baseline (12cm). In addition, the preprocessed infromation from this new system are sent via a Gigabit Ethernet cable to the onboard host computer of UAV for real-time environment reconstruction and obstacle detection with a octree-based 3D occupancy grid mapping approach, i.e. OctoMap. The visual algorithm is evaluated with the stereo video datasets from EuRoC Challenge III in terms of efficiency, accuracy and robustness. Finally, the new system is mounted and tested on a real quadrotor UAV to carry out the visual odometry and mapping task.
International
Si
Congress
2015 International Conference On Unmanned Aircraft Systems (ICUAS?15)
960
Place
Reviewers
Si
ISBN/ISSN
978-1-4799-6009-5
Start Date
09/06/2015
End Date
12/06/2015
From page
957
To page
962
2015 International Conference On Unmanned Aircraft Systems (ICUAS?15)
Participants

Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Computer Vision
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial