TY - GEN
T1 - MAV indoor navigation based on a closed-form solution for absolute scale velocity estimation using Optical Flow and inertial data
AU - Lippiello, Vincenzo
AU - Loianno, Giuseppe
AU - Siciliano, Bruno
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84860656018&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2011.6160577
DO - 10.1109/CDC.2011.6160577
M3 - Conference contribution
AN - SCOPUS:84860656018
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3566
EP - 3571
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Y2 - 12 December 2011 through 15 December 2011
ER -