Paper Info
Title
Autonomous indoor helicopter flight using a single onboard camera
Abstract
We consider the problem of autonomously flying a helicopter in indoor environments. Navigation in indoor settings poses two major challenges. First, real-time perception and response is crucial because of the high presence of obstacles. Second, the limited free space in such a setting places severe restrictions on the size of the aerial vehicle, resulting in a frugal payload budget. We autonomously fly a miniature RC helicopter in small known environments using an on-board light-weight camera as the only sensor. We use an algorithm that combines data-driven image classification with optical flow techniques on the images captured by the camera to achieve real-time 3D localization and navigation. We perform successful autonomous test flights along trajectories in two different indoor settings. Our results demonstrate that our method is capable of autonomous flight even in narrow indoor spaces with sharp corners.
Year
DOI
Venue
2009
10.1109/IROS.2009.5354617
St. Louis, MO
Keywords
Field
DocType
autonomous indoor helicopter flight,miniature rc helicopter,aerial vehicle,single onboard camera,autonomous flight,indoor environment,indoor setting,successful autonomous test flight,different indoor setting,on-board light-weight camera,narrow indoor space,real-time perception,image classification,navigation,optical flow,wireless communication,real time,adaptive optics,optical imaging
Computer vision,Wireless,Computer science,3d localization,Onboard camera,Free space,Artificial intelligence,Contextual image classification,Optical flow,Payload,Adaptive optics
Conference
ISBN
Citations 
PageRank 
978-1-4244-3804-4
16
1.17
References 
Authors
17
3
Name
Order
Citations
PageRank
Sai Prashanth Soundararaj1161.17
Arvind K. Sujeeth250220.58
Ashutosh Saxena34575227.88