Relative Pose Calibration Between Visual and Inertial Sensors
International Journal of Robotics Research
Flying Fast and Low Among Obstacles: Methodology and Experiments
International Journal of Robotics Research
Vision-based navigation through urban canyons
Journal of Field Robotics
On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries
International Journal of Robotics Research
Automatic Take Off, Tracking and Landing of a Miniature UAV on a Moving Carrier Vehicle
Journal of Intelligent and Robotic Systems
Vision Based Position Control for MAVs Using One Single Circular Landmark
Journal of Intelligent and Robotic Systems
Closed-form solutions to minimal absolute pose problems with known vertical direction
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part II
An open-source navigation system for micro aerial vehicles
Autonomous Robots
From ground to aerial communication: dissecting WLAN 802.11n for the drones
Proceedings of the 8th ACM international workshop on Wireless network testbeds, experimental evaluation & characterization
On-Board Dual-Stereo-Vision for the Navigation of an Autonomous MAV
Journal of Intelligent and Robotic Systems
Autonomous Landing of MAVs on an Arbitrarily Textured Landing Site Using Onboard Monocular Vision
Journal of Intelligent and Robotic Systems
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We describe a novel quadrotor Micro Air Vehicle (MAV) system that is designed to use computer vision algorithms within the flight control loop. The main contribution is a MAV system that is able to run both the vision-based flight control and stereo-vision-based obstacle detection parallelly on an embedded computer onboard the MAV. The system design features the integration of a powerful onboard computer and the synchronization of IMU-Vision measurements by hardware timestamping which allows tight integration of IMU measurements into the computer vision pipeline. We evaluate the accuracy of marker-based visual pose estimation for flight control and demonstrate marker-based autonomous flight including obstacle detection using stereo vision. We also show the benefits of our IMU-Vision synchronization for egomotion estimation in additional experiments where we use the synchronized measurements for pose estimation using the 2pt+gravity formulation of the PnP problem.