Autonomous Vision-based Micro Air Vehicle for Indoor and Outdoor Navigation
Autonomous Vision-based Micro Air Vehicle for Indoor and Outdoor Navigation
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DOI：
10.1002/rob.21506
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发表时间：
2014-07-01
影响因子：
8.3
通讯作者：
Hirschmueller, Heiko
中科院分区：
文献类型：
--
作者：
Schmid, Korbinian;Lutz, Philipp;Hirschmueller, Heiko
微型飞行器近年来非常受欢迎。这种系统的自主导航在许多工业应用以及搜索和救援场景中起着重要作用。我们提出了一个四旋翼，在复杂的室内和室外环境中进行自主导航。操作员在机载地图中选择目标位置，系统自主规划无障碍路径并飞往这些位置。机载立体摄像机和惯性测量单元是唯一的传感器。该系统独立于外部导航辅助设备，如GPS。没有对未知环境的结构做出任何假设。所有导航任务都在系统上实现。无线连接仅用于向操作员发送图像和三维（3D）地图以及接收目标位置。详细讨论了系统的硬件和软件设置。实施的亮点是现场可编程门阵列为基础的密集立体匹配的0.5 Mpixel的图像在14.6 Hz的速率，使用semigraphy匹配，本地无漂移的视觉里程与关键帧，传感器数据融合与补偿测量延迟220毫秒。我们显示的鲁棒性的方法在模拟和实验与地面真相。我们提出了一个复杂的，自主的室内/室外飞行和煤矿的避障和3D映射的勘探结果。(C)2014 Wiley Periodicals，Inc.
Micro air vehicles have become very popular in recent years. Autonomous navigation of such systems plays an important role in many industrial applications as well as in search-and-rescue scenarios. We present a quadrotor that performs autonomous navigation in complex indoor and outdoor environments. An operator selects target positions in the onboard map and the system autonomously plans an obstacle-free path and flies to these locations. An onboard stereo camera and inertial measurement unit are the only sensors. The system is independent of external navigation aids such as GPS. No assumptions are made about the structure of the unknown environment. All navigation tasks are implemented onboard the system. A wireless connection is only used for sending images and a three-dimensional (3D) map to the operator and to receive target locations. We discuss the hardware and software setup of the system in detail. Highlights of the implementation are the field-programmable-gate-array-based dense stereo matching of 0.5 Mpixel images at a rate of 14.6 Hz using semiglobal matching, locally drift-free visual odometry with key frames, and sensor data fusion with compensation of measurement delays of 220 ms. We show the robustness of the approach in simulations and experiments with ground truth. We present the results of a complex, autonomous indoor/outdoor flight and the exploration of a coal mine with obstacle avoidance and 3D mapping. (C) 2014 Wiley Periodicals, Inc.