Lippiello, Vincenzo and Loianno, Giuseppe and Siciliano, Bruno (2011) MAV indoor navigation based on a closed-form solution for absolute scale velocity estimation using Optical Flow and inertial data. In: 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC) Orlando, FL, USA, December 12-15, 2011. IEEE, pp. 3566-3571. ISBN 978-1-61284-800-6
|
Text
06160577.pdf Download (564kB) | Preview |
| Item Type: | Book Section | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Lingua: | English | ||||||||
| Title: | MAV indoor navigation based on a closed-form solution for absolute scale velocity estimation using Optical Flow and inertial data | ||||||||
| Creators: |
|
||||||||
| Date: | 2011 | ||||||||
| Number of Pages: | 6 | ||||||||
| Institution: | Università degli Studi di Napoli Federico II | ||||||||
| Department: | Ingegneria elettrica e delle Tecnologie dell'Informazione | ||||||||
| Title of Book: | 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC) Orlando, FL, USA, December 12-15, 2011 | ||||||||
| Publisher: | IEEE | ||||||||
| Date: | 2011 | ||||||||
| ISBN: | 978-1-61284-800-6 | ||||||||
| Page Range: | pp. 3566-3571 | ||||||||
| Number of Pages: | 6 | ||||||||
| Access rights: | Open access | ||||||||
| Additional Information: | AIRobots | ||||||||
| Date Deposited: | 23 Jun 2014 11:00 | ||||||||
| Last Modified: | 17 May 2017 17:28 | ||||||||
| URI: | http://www.fedoa.unina.it/id/eprint/9589 |
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.
Downloads
Downloads per month over past year
Actions (login required)
 |
View Item |
