Vistas and Wall-Floor Intersection Features: Enabling Autonomous Flight in Man-made Environments
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Abstract
We propose a solution toward the problem of
autonomous flight and exploration in man-made indoor environments with a micro aerial vehicle (MAV), using a frontal
camera, a downward-facing sonar, and an IMU. We present a
general method to detect and steer an MAV toward distant features that we call
vistas
while building a map of the environment
to detect unexplored regions. Our method enables autonomous
exploration capabilities while working reliably in textureless
indoor environments that are challenging for traditional monocular SLAM approaches. We overcome the difficulties faced by
traditional approaches with
Wall-Floor Intersection Features
, a
novel type of low-dimensional landmarks that are specifically
designed for man-made environments to capture the geometric
structure of the scene. We demonstrate our results on a small,
commercially available quadrotor platform.
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2012-10
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