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Intuitive 3D maps for MAV terrain exploration and obstacle avoidance

Weiss, Stephan; Achtelik, Markus W.; Kneip, Laurent; Scaramuzza, D; Siegwart, Roland


Recent development showed that Micro Aerial Vehicles (MAVs) are nowadays capable of autonomously take off at one point and land at another using only one single camera as exteroceptive sensor. During the flight and landing phase the MAV and user have, however, little knowledge about the whole terrain and potential obstacles. In this paper we show a new solution for a real-time dense 3D terrain reconstruction. This can be used for efficient unmanned MAV terrain exploration and yields a solid...[Show more]

CollectionsANU Research Publications
Date published: 2011
Type: Journal article
Source: Journal of Intelligent and Robotic Systems
DOI: 10.1007/s10846-010-9491-y


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