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MAV indoor navigation based on a closed-form solution for absolute scale velocity estimation using Optical Flow and inertial data
- Source :
- CDC/ECC
- Publication Year :
- 2011
- Publisher :
- IEEE, 2011.
-
Abstract
- A new vision-based obstacle avoidance technique for indoor navigation of Micro Aerial Vehicles (MAVs) is presented in this paper. The vehicle trajectory is modified according to the obstacles detected through the Depth Map of the surrounding environment, which is computed online using the Optical Flow provided by a single onboard omnidirectional camera. An existing closed-form solution for the absolute-scale velocity estimation based on visual correspondences and inertial measurements is generalized and here employed for the Depth Map estimation. Moreover, a dynamic region-of-interest for image features extraction and a self-limitation control for the navigation velocity are proposed to improve safety in view of the estimated vehicle velocity. The proposed solutions are validated by means of simulations.
- Subjects :
- 0209 industrial biotechnology
Inertial frame of reference
business.industry
Computer science
UAV
Feature extraction
Optical flow
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
Mobile robot
Robotics
02 engineering and technology
Computer Science::Robotics
020901 industrial engineering & automation
Optical Flow
Omnidirectional camera
Depth map
Obstacle avoidance
0202 electrical engineering, electronic engineering, information engineering
Trajectory
020201 artificial intelligence & image processing
Computer vision
Artificial intelligence
business
Absolute scale
Subjects
Details
- Language :
- Italian
- Database :
- OpenAIRE
- Journal :
- CDC/ECC
- Accession number :
- edsair.doi.dedup.....a6c371a22f4b58741f0370de88ed5f5b