Visual-inertial SLAM for a small helicopter in large outdoor environments
Date
2012
Authors
Achtelik, Markus W.
Lynen, Simon
Weiss, Stephan
Kneip, Laurent
Chli, Margarita
Siegwart, Roland
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Publisher
IEEE Robotics and Automation Society
Abstract
In this video, we present our latest results towards fully autonomous flights with a small helicopter. Using a monocular camera as the only exteroceptive sensor, we fuse inertial measurements to achieve a self-calibrating power-on-and-go system, able to perform autonomous flights in previously unknown, large, outdoor spaces. Our framework achieves Simultaneous Localization And Mapping (SLAM) with previously unseen robustness in onboard aerial navigation for small platforms with natural restrictions on weight and computational power. We demonstrate successful operation in flights with altitude between 0.2-70 m, trajectories with 350 m length, as well as dynamic maneuvers with track speed of 2 m/s. All flights shown are performed autonomously using vision in the loop, with only high-level waypoints given as directions.
Description
Keywords
Keywords: Aerial navigation; Autonomous flight; Computational power; Dynamic maneuvers; Exteroceptive sensor; Inertial measurements; Monocular cameras; Outdoor environment; Outdoor space; Self-calibrating; Simultaneous localization and mapping; Track speed; Waypoin
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Conference paper
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Restricted until
2037-12-31