Autonomous MAV guidance with a lightweight omnidirectional vision sensor

Richard J.D. Moore; Karthik Dantu; Geoffrey L. Barrows; Radhika Nagpal

doi:10.1109/ICRA.2014.6907418

Autonomous MAV guidance with a lightweight omnidirectional vision sensor

Richard J.D. Moore, Karthik Dantu, Geoffrey L. Barrows, Radhika Nagpal

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

29 Scopus citations

Abstract

This study describes the design and implementation of several bioinspired algorithms for providing guidance to an ultra-lightweight micro-aerial vehicle (MAV) using a 2.6 g omnidirectional vision sensor. Using this visual guidance system we demonstrate autonomous speed control, centring, and heading stabilisation on board a 30 g MAV flying in a corridorlike environment. In addition to the computation of wide-field optic flow, the comparatively high-resolution omnidirectional imagery provided by this sensor also offers the potential for image-based algorithms such as landmark recognition to be implemented in the future.

Original language	English (US)
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3856-3861
Number of pages	6
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907418
State	Published - Sep 22 2014
Externally published	Yes
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: May 31 2014 → Jun 7 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	5/31/14 → 6/7/14

All Science Journal Classification (ASJC) codes

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

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10.1109/ICRA.2014.6907418

Cite this

Moore, R. J. D., Dantu, K., Barrows, G. L., & Nagpal, R. (2014). Autonomous MAV guidance with a lightweight omnidirectional vision sensor. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3856-3861). Article 6907418 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907418

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title = "Autonomous MAV guidance with a lightweight omnidirectional vision sensor",

abstract = "This study describes the design and implementation of several bioinspired algorithms for providing guidance to an ultra-lightweight micro-aerial vehicle (MAV) using a 2.6 g omnidirectional vision sensor. Using this visual guidance system we demonstrate autonomous speed control, centring, and heading stabilisation on board a 30 g MAV flying in a corridorlike environment. In addition to the computation of wide-field optic flow, the comparatively high-resolution omnidirectional imagery provided by this sensor also offers the potential for image-based algorithms such as landmark recognition to be implemented in the future.",

author = "Moore, {Richard J.D.} and Karthik Dantu and Barrows, {Geoffrey L.} and Radhika Nagpal",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",

year = "2014",

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doi = "10.1109/ICRA.2014.6907418",

language = "English (US)",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

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Moore, RJD, Dantu, K, Barrows, GL & Nagpal, R 2014, Autonomous MAV guidance with a lightweight omnidirectional vision sensor. in Proceedings - IEEE International Conference on Robotics and Automation., 6907418, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3856-3861, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 5/31/14. https://doi.org/10.1109/ICRA.2014.6907418

Autonomous MAV guidance with a lightweight omnidirectional vision sensor. / Moore, Richard J.D.; Dantu, Karthik; Barrows, Geoffrey L. et al.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 3856-3861 6907418 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - This study describes the design and implementation of several bioinspired algorithms for providing guidance to an ultra-lightweight micro-aerial vehicle (MAV) using a 2.6 g omnidirectional vision sensor. Using this visual guidance system we demonstrate autonomous speed control, centring, and heading stabilisation on board a 30 g MAV flying in a corridorlike environment. In addition to the computation of wide-field optic flow, the comparatively high-resolution omnidirectional imagery provided by this sensor also offers the potential for image-based algorithms such as landmark recognition to be implemented in the future.

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M3 - Conference contribution

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BT - Proceedings - IEEE International Conference on Robotics and Automation

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Moore RJD, Dantu K, Barrows GL, Nagpal R. Autonomous MAV guidance with a lightweight omnidirectional vision sensor. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 3856-3861. 6907418. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6907418

Autonomous MAV guidance with a lightweight omnidirectional vision sensor

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