Visual-inertial SLAM for a small helicopter in large outdoor environments

Visual-inertial SLAM for a small helicopter in large outdoor environments

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 unkno...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Achtelik, M. W., Lynen, S., Weiss, S., Kneip, L., Chli, M., Siegwart, R.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Cameras
Conferences
Helicopters
Robustness
Simultaneous localization and mapping
Visualization
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 2652
container_issue
container_start_page 2651
container_title
container_volume
creator Achtelik, M. W.
Lynen, S.
Weiss, S.
Kneip, L.
Chli, M.
Siegwart, R.
description 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.
doi_str_mv 10.1109/IROS.2012.6386270
format Conference Proceeding
fullrecord <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_6386270</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>6386270</ieee_id><sourcerecordid>6386270</sourcerecordid><originalsourceid>FETCH-LOGICAL-i218t-b29093ccd39265b3f8a292fa458694588f58ac1b830e840e409ad76545668e1b3</originalsourceid><addsrcrecordid>eNo9kMtOwzAURM1LopR8AGLjH0i4tmPHXlYVhUhBlSiwrZzkBoycpLJTJP6eShQ2M4szOosh5IZBxhiYu_J5vck4MJ4poRUv4IQkptAsV4VghZDslMw4kyIFrdQZufoDhTj_B1JfkiTGTwA4OJVgZkbKNxf31qduwDA56-mmWjzRbgzU0thb7-kHeteMuwkDdQP1NrwjHfdTOx42OHy5MA49DlO8Jhed9RGTY8_J6-r-ZfmYVuuHcrmoUseZntKaGzCiaVphuJK16LTlhnc2l1qZQ-hOatuwWgtAnQPmYGxbKJlLpTSyWszJ7a_XIeJ2F1xvw_f2-Ir4AQFGUIg</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Visual-inertial SLAM for a small helicopter in large outdoor environments</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Achtelik, M. W. ; Lynen, S. ; Weiss, S. ; Kneip, L. ; Chli, M. ; Siegwart, R.</creator><creatorcontrib>Achtelik, M. W. ; Lynen, S. ; Weiss, S. ; Kneip, L. ; Chli, M. ; Siegwart, R.</creatorcontrib><description>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><identifier>ISSN: 2153-0858</identifier><identifier>ISBN: 1467317373</identifier><identifier>ISBN: 9781467317375</identifier><identifier>EISSN: 2153-0866</identifier><identifier>EISBN: 9781467317351</identifier><identifier>EISBN: 1467317365</identifier><identifier>EISBN: 9781467317368</identifier><identifier>EISBN: 1467317357</identifier><identifier>DOI: 10.1109/IROS.2012.6386270</identifier><language>eng</language><publisher>IEEE</publisher><subject>Cameras ; Conferences ; Helicopters ; Robustness ; Simultaneous localization and mapping ; Visualization</subject><ispartof>2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, p.2651-2652</ispartof><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6386270$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2052,27902,54895</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6386270$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Achtelik, M. W.</creatorcontrib><creatorcontrib>Lynen, S.</creatorcontrib><creatorcontrib>Weiss, S.</creatorcontrib><creatorcontrib>Kneip, L.</creatorcontrib><creatorcontrib>Chli, M.</creatorcontrib><creatorcontrib>Siegwart, R.</creatorcontrib><title>Visual-inertial SLAM for a small helicopter in large outdoor environments</title><title>2012 IEEE/RSJ International Conference on Intelligent Robots and Systems</title><addtitle>IROS</addtitle><description>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><subject>Cameras</subject><subject>Conferences</subject><subject>Helicopters</subject><subject>Robustness</subject><subject>Simultaneous localization and mapping</subject><subject>Visualization</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>1467317373</isbn><isbn>9781467317375</isbn><isbn>9781467317351</isbn><isbn>1467317365</isbn><isbn>9781467317368</isbn><isbn>1467317357</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo9kMtOwzAURM1LopR8AGLjH0i4tmPHXlYVhUhBlSiwrZzkBoycpLJTJP6eShQ2M4szOosh5IZBxhiYu_J5vck4MJ4poRUv4IQkptAsV4VghZDslMw4kyIFrdQZufoDhTj_B1JfkiTGTwA4OJVgZkbKNxf31qduwDA56-mmWjzRbgzU0thb7-kHeteMuwkDdQP1NrwjHfdTOx42OHy5MA49DlO8Jhed9RGTY8_J6-r-ZfmYVuuHcrmoUseZntKaGzCiaVphuJK16LTlhnc2l1qZQ-hOatuwWgtAnQPmYGxbKJlLpTSyWszJ7a_XIeJ2F1xvw_f2-Ir4AQFGUIg</recordid><startdate>20120101</startdate><enddate>20120101</enddate><creator>Achtelik, M. W.</creator><creator>Lynen, S.</creator><creator>Weiss, S.</creator><creator>Kneip, L.</creator><creator>Chli, M.</creator><creator>Siegwart, R.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>20120101</creationdate><title>Visual-inertial SLAM for a small helicopter in large outdoor environments</title><author>Achtelik, M. W. ; Lynen, S. ; Weiss, S. ; Kneip, L. ; Chli, M. ; Siegwart, R.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i218t-b29093ccd39265b3f8a292fa458694588f58ac1b830e840e409ad76545668e1b3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Cameras</topic><topic>Conferences</topic><topic>Helicopters</topic><topic>Robustness</topic><topic>Simultaneous localization and mapping</topic><topic>Visualization</topic><toplevel>online_resources</toplevel><creatorcontrib>Achtelik, M. W.</creatorcontrib><creatorcontrib>Lynen, S.</creatorcontrib><creatorcontrib>Weiss, S.</creatorcontrib><creatorcontrib>Kneip, L.</creatorcontrib><creatorcontrib>Chli, M.</creatorcontrib><creatorcontrib>Siegwart, R.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Achtelik, M. W.</au><au>Lynen, S.</au><au>Weiss, S.</au><au>Kneip, L.</au><au>Chli, M.</au><au>Siegwart, R.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Visual-inertial SLAM for a small helicopter in large outdoor environments</atitle><btitle>2012 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2012-01-01</date><risdate>2012</risdate><spage>2651</spage><epage>2652</epage><pages>2651-2652</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>1467317373</isbn><isbn>9781467317375</isbn><eisbn>9781467317351</eisbn><eisbn>1467317365</eisbn><eisbn>9781467317368</eisbn><eisbn>1467317357</eisbn><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.</abstract><pub>IEEE</pub><doi>10.1109/IROS.2012.6386270</doi><tpages>2</tpages><oa>free_for_read</oa></addata></record>
fulltext fulltext_linktorsrc
identifier ISSN: 2153-0858
ispartof 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, p.2651-2652
issn 2153-0858
2153-0866
language eng
recordid cdi_ieee_primary_6386270
source IEEE Electronic Library (IEL) Conference Proceedings
subjects Cameras
Conferences
Helicopters
Robustness
Simultaneous localization and mapping
Visualization
title Visual-inertial SLAM for a small helicopter in large outdoor environments
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-01T23%3A47%3A31IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Visual-inertial%20SLAM%20for%20a%20small%20helicopter%20in%20large%20outdoor%20environments&rft.btitle=2012%20IEEE/RSJ%20International%20Conference%20on%20Intelligent%20Robots%20and%20Systems&rft.au=Achtelik,%20M.%20W.&rft.date=2012-01-01&rft.spage=2651&rft.epage=2652&rft.pages=2651-2652&rft.issn=2153-0858&rft.eissn=2153-0866&rft.isbn=1467317373&rft.isbn_list=9781467317375&rft_id=info:doi/10.1109/IROS.2012.6386270&rft_dat=%3Cieee_6IE%3E6386270%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=9781467317351&rft.eisbn_list=1467317365&rft.eisbn_list=9781467317368&rft.eisbn_list=1467317357&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=6386270&rfr_iscdi=true