Light-weight quadrotor with on-board absolute vision-aided navigation

Daniel P. Magree, Gerald J.J. Van Dalen, Stephen Haviland, Eric Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents a novel small unmanned aerial system which can operate independently and navigate using visual sensors. The basis of the system is a 600 gram quadrotor platform with sonar, inertial sensors and a camera. All processing is performed onboard the vehicle on a lightweight and powerful computer. Vehicle navigation is provided by a two part system. A Bierman Thornton extended Kalman filter (BTEKF) generates vehicle state and image feature estimates in a visual simultaneous localization and mapping (SLAM) formulation. Absolute position updates are provided to the BTEKF by a particle filter map-matching technique. Simulation and flight test results demonstrate the capabilities of the system to both navigate in an unknown environment with minimal drift while also showing the ability to eliminate drift when a priori known visual information is visible.

Original languageEnglish (US)
Title of host publication2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1158-1167
Number of pages10
ISBN (Electronic)9781479960101
DOIs
StatePublished - Jan 1 2015
Event2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015 - Denver, United States
Duration: Jun 9 2015Jun 12 2015

Other

Other2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
CountryUnited States
CityDenver
Period6/9/156/12/15

Fingerprint

Navigation
Extended Kalman filters
Sensors
Sonar
Cameras
Antennas
flight
Processing
simulation
ability

All Science Journal Classification (ASJC) codes

  • Transportation
  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Magree, D. P., Van Dalen, G. J. J., Haviland, S., & Johnson, E. (2015). Light-weight quadrotor with on-board absolute vision-aided navigation. In 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015 (pp. 1158-1167). [7152408] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUAS.2015.7152408
Magree, Daniel P. ; Van Dalen, Gerald J.J. ; Haviland, Stephen ; Johnson, Eric. / Light-weight quadrotor with on-board absolute vision-aided navigation. 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1158-1167
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Magree, DP, Van Dalen, GJJ, Haviland, S & Johnson, E 2015, Light-weight quadrotor with on-board absolute vision-aided navigation. in 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015., 7152408, Institute of Electrical and Electronics Engineers Inc., pp. 1158-1167, 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015, Denver, United States, 6/9/15. https://doi.org/10.1109/ICUAS.2015.7152408

Light-weight quadrotor with on-board absolute vision-aided navigation. / Magree, Daniel P.; Van Dalen, Gerald J.J.; Haviland, Stephen; Johnson, Eric.

2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1158-1167 7152408.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Magree DP, Van Dalen GJJ, Haviland S, Johnson E. Light-weight quadrotor with on-board absolute vision-aided navigation. In 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1158-1167. 7152408 https://doi.org/10.1109/ICUAS.2015.7152408