PIXHAWK: A System for Autonomous Flight using Onboard Computer Vision

被引：0
|
作者：
Meier, Lorenz [1 ]
Tanskanen, Petri [1 ]
Fraundorfer, Friedrich [1 ]
Pollefeys, Marc [1 ]
机构：
[1] ETH, Comp Vis & Geometry Lab, CH-8092 Zurich, Switzerland
来源：
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2011年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We provide a novel hardware and software system for micro air vehicles (MAV) that allows high-speed, low-latency onboard image processing. It uses up to four cameras in parallel on a miniature rotary wing platform. The MAV navigates based on onboard processed computer vision in GPS-denied in-and outdoor environments. It can process in parallel images and inertial measurement information from multiple cameras for multiple purposes (localization, pattern recognition, obstacle avoidance) by distributing the images on a central, low-latency image hub. Furthermore the system can utilize low-bandwith radio links for communication and is designed and optimized to scale to swarm use. Experimental results show successful flight with a range of onboard computer vision algorithms, including localization, obstacle avoidance and pattern recognition.
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页数：6
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