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Monocular Vision for Long-term Micro Aerial Vehicle State Estimation: A Compendium

Weiss, Stephan and Achtelik, Markus W. and Lynen, Simon and Achtelik, Michael C. and Kneip, Laurent and Chli, Margarita and Siegwart, Roland (2013) Monocular Vision for Long-term Micro Aerial Vehicle State Estimation: A Compendium. Journal of Field Robotics, 30 (5). pp. 803-831. ISSN 1556-4959. https://resolver.caltech.edu/CaltechAUTHORS:20130830-145133701

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Abstract

The recent technological advances in Micro Aerial Vehicles (MAVs) have triggered great interest in the robotics community, as their deployability in missions of surveillance and reconnaissance has now become a realistic prospect. The state of the art, however, still lacks solutions that can work for a long duration in large, unknown, and GPS-denied environments. Here, we present our visual pipeline and MAV state-estimation framework, which uses feeds from a monocular camera and an Inertial Measurement Unit (IMU) to achieve real-time and onboard autonomous flight in general and realistic scenarios. The challenge lies in dealing with the power and weight restrictions onboard a MAV while providing the robustness necessary in real and long-term missions. This article provides a concise summary of our work on achieving the first onboard vision-based power-on-and-go system for autonomous MAV flights. We discuss our insights on the lessons learned throughout the different stages of this research, from the conception of the idea to the thorough theoretical analysis of the proposed framework and, finally, the real-world implementation and deployment. Looking into the onboard estimation of monocular visual odometry, the sensor fusion strategy, the state estimation and self-calibration of the system, and finally some implementation issues, the reader is guided through the different modules comprising our framework. The validity and power of this framework are illustrated via a comprehensive set of experiments in a large outdoor mission, demonstrating successful operation over flights of more than 360 m trajectory and 70 m altitude change.


Item Type:Article
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1002/rob.21466 DOIArticle
http://onlinelibrary.wiley.com/doi/10.1002/rob.21466/abstractPublisherArticle
ORCID:
AuthorORCID
Weiss, Stephan0000-0002-0720-5426
Additional Information:© 2013 Wiley Periodicals, Inc. Article first published online: 6 Aug. 2013. The research leading to this article has received funding from the European Community's Seventh Framework Program (FP7/2007-2013) under grant agreements no. 231855 (www.sfly.org), no. 266470 (www.mycopter.eu), and no. 285417 (www.fp7-icarus.eu).
Funders:
Funding AgencyGrant Number
European Community Seventh Framework Program (FP7/2007-2013)231855
European Community Seventh Framework Program (FP7/2007-2013)266470
European Community Seventh Framework Program (FP7/2007-2013)285417
Issue or Number:5
Record Number:CaltechAUTHORS:20130830-145133701
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20130830-145133701
Official Citation:Weiss, S., Achtelik, M. W., Lynen, S., Achtelik, M. C., Kneip, L., Chli, M. and Siegwart, R. (2013), Monocular Vision for Long-term Micro Aerial Vehicle State Estimation: A Compendium. J. Field Robotics, 30: 803–831. doi: 10.1002/rob.21466
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:41041
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:16 Sep 2013 21:18
Last Modified:09 Mar 2020 13:19

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