An open‐source system for vision‐based micro‐aerial vehicle mapping, planning, and flight in cluttered environments
An open‐source system for vision‐based micro‐aerial vehicle mapping, planning, and flight in cluttered environments
复制标题
用于在杂乱环境中进行基于视觉的微型飞行器测绘、规划和飞行的开源系统
DOI：
--
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Juan I. Nieto
中科院分区：
文献类型：
--
作者：
Helen Oleynikova;Christian Lanegger;Zachary Taylor;Michael Pantic;A. Millane;R. Siegwart;Juan I. Nieto
我们提出了一种基于视觉传感的微型飞行器（MAV）自主导航的开源系统。我们的系统专注于密集测绘、安全局部规划和全局轨迹生成，特别是在非常混乱的环境中使用窄视场传感器时。此外，还介绍了系统其他必要部分的详细信息以及实际场景中应用的特殊注意事项。我们的实验重点是在现实搜救和工业检查场景中评估 MAV 制作的真实地图上的全局规划、路径平滑和局部规划方法。我们还在杂乱的合成环境中进行了数千次模拟，并最终在现实世界的实验中验证了完整的系统。
We present an open‐source system for Micro‐Aerial Vehicle (MAV) autonomous navigation from vision‐based sensing. Our system focuses on dense mapping, safe local planning, and global trajectory generation, especially when using narrow field‐of‐view sensors in very cluttered environments. In addition, details about other necessary parts of the system and special considerations for applications in real‐world scenarios are presented. We focus our experiments on evaluating global planning, path smoothing, and local planning methods on real maps made on MAVs in realistic search‐and‐rescue and industrial inspection scenarios. We also perform thousands of simulations in cluttered synthetic environments, and finally validate the complete system in real‐world experiments.