An Open-Source Pose Estimation System for Micro-Air Vehicles
This paper presents the implementation of an open-source 6-DoF pose estimation system for micro-air vehicles and considers the future implications and benefits of open-source robotics. The system is designed to provide high frequency pose estimates in unknown, GPS-denied indoor environments. It requires a minimal set of sensors including a planar laser range-finder and an IMU sensor. The code is optimized to run entirely onboard, so no wireless link and ground station are explicitly needed. A major focus in our work is modularity, allowing each component to be benchmarked individually, or swapped out for a different implementation, without change to the rest of the system. We demonstrate how the pose estimation can be used for 2D SLAM or 3D mapping experiments. All the software and hardware which we have developed, as well as extensive documentation and test data, is available online.
Ivan Dryanovski William Morris Jizhong Xiao
Dept. Of Computer Science, The Graduate Center, The City University of New York (CUNY), 365 Fifth Av Electrical Engineering Department, City College of New York, Convent Ave & 140th Street, New York, N
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4449-4454
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）