MAV navigation through indoor corridors using optical flow
Safe navigation through corridors plays a major role in the autonomous use of Micro Aerial Vehicles (MAVs) in indoor environments. In this paper, we present an approach for wall collision avoidance using a depth map based on optical flow from on board camera images. An omnidirectional fisheye camera...
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| creator | Zingg, Simon Scaramuzza, Davide Weiss, Stephan Siegwart, Roland |
| description | Safe navigation through corridors plays a major role in the autonomous use of Micro Aerial Vehicles (MAVs) in indoor environments. In this paper, we present an approach for wall collision avoidance using a depth map based on optical flow from on board camera images. An omnidirectional fisheye camera is used as a primary sensor, while IMU data is needed for compensating rotational effects of the optical flow. The here presented approach is designed for safely maneuvering a helicopter through an indoor corridor. Results based on real images taken in a corridor with textured walls are shown at the end of this paper. |
| doi_str_mv | 10.1109/ROBOT.2010.5509777 |
| format | Conference Proceeding |
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| ispartof | 2010 IEEE International Conference on Robotics and Automation, 2010, p.3361-3368 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_5509777 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Cameras Collision avoidance Helicopters Image motion analysis Indoor environments Mobile robots Navigation Optical sensors Remotely operated vehicles Vehicle safety |
| title | MAV navigation through indoor corridors using optical flow |
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