Towards Autonomous Navigation of an UAV-based Mobile Mapping System
Towards Autonomous Navigation of an UAV-based Mobile Mapping System
复制标题
基于无人机的移动测绘系统的自主导航
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
H. Kuhlmann
中科院分区：
文献类型：
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作者：
L. Klingbeil;Matthias Nieuwenhuisen;Johannes Schneider;C. Eling;David Droeschel;D. Holz;T. Läbe;W. Förstner;Sven Behnke;H. Kuhlmann
对于既不能从高空也不能从地面进行测绘的情况，我们正在开发一种能够在障碍物附近低空飞行的自主微型飞行器。该飞行器基于MikroKopterTM直升机平台（最大总重量：5kg），并包含双频GPS板、IMU、指南针、两个带鱼眼镜头的立体相机对、旋转3D激光扫描仪、8个超声波传感器、实时处理单元和一个紧凑型PC，用于车载自我运动估计和自主导航障碍物检测。高分辨率相机用于实际测绘任务，其中使用高精度光束法平差从图像中三维重建环境。在这方面的贡献，我们描述了传感器系统的设置和目前的结果，从几个方面的不同的子系统，以及飞行试验的初步结果的评估。
For situations, where mapping is neither possible from high altitudes nor from the ground, we are developing an autonomous micro aerial vehicle able to fly at low altitudes in close vicinity of obstacles. This vehicle is based on a MikroKopterTM octocopter platform (maximum total weight: 5kg), and contains a dual frequency GPS board, an IMU, a compass, two stereo camera pairs with fisheye lenses, a rotating 3D laser scanner, 8 ultrasound sensors, a real-time processing unit, and a compact PC for on-board ego-motion estimation and obstacle detection for autonomous navigation. A high-resolution camera is used for the actual mapping task, where the environment is reconstructed in three dimensions from images, using a highly accurate bundle adjustment. In this contribution, we describe the sensor system setup and present results from the evaluation of several aspects of the different subsystems as well as initial results from flight tests.