A mono-camera and scanning laser range finder based UAV indoor navigation system
A mono-camera and scanning laser range finder based UAV indoor navigation system
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基于单摄像头和扫描激光测距仪的无人机室内导航系统
DOI：
10.1109/icuas.2013.6564750
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Tong
中科院分区：
文献类型：
--
作者：
Feihong Wang;Jinqiang Cui;S. K. Phang;Ben M. Chen;Tong
提出了一种室内无人机系统的综合控制与导航方案。除了大多数无人机机载常用的惯性测量单元外，试验台四旋翼平台还配备了一个向下看的单相机和一个能够扫描水平面的激光测距仪。通过这种设置，无人机能够鲁棒地估计自己的速度和位置，同时沿着房间的内壁飞行而不会发生碰撞。整个系统不需要任何远程传感信息或离线计算能力。所有算法都是自我维持的，并且在真实的时间内运行。已经进行了完整的飞行测试来验证该解决方案。
This paper presents a comprehensive control and navigation scheme for an indoor UAV system. In addition to the inertial measurement unit commonly used onboard of most UAVs, the testbed quadrotor platform is also equipped with a mono-camera looking downwards and a laser range finder capable of scanning a level plane. With this setup, the UAV is able to estimate its own velocity and position robustly, while flying along the internal walls of a room without collision. The whole system does not require any remote sensory information or off-line computational power. All algorithms are self-sustained and running onboard in real time. Complete flight tests have been carried out to verify the solution.