PIXHAWK: A System for Autonomous Flight using Onboard Computer Vision
We provide a novel hardware and software system for micro air vehicles (MAV) that allows high-speed, low-latency onboard image processing. It uses up to four cameras in parallel on a miniature rotary wing platform. The MAV navigates based on onboard processed computer vision in GPS-denied in- and outdoor environments. It can process in parallel images and inertial measurement information from multiple cameras for multiple purposes (localization, pattern recognition, obstacle avoidance) by distributing the images on a central, low-latency image hub. Furthermore the system can utilize low-bandwith radio links for communication and is designed and optimized to scale to swarm use. Experimental results show successful flight with a range of onboard computer vision algorithms, including localization, obstacle avoidance and pattern recognition.
Lorenz Meier Petri Tanskanen Friedrich Fraundorfer Marc Pollefeys
Computer Vision and Geometry Lab,ETH Zurich,8092 Zurich,Switzerland
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
2992-2997
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）