Embedded Laser Vision System for Indoor Aerial Autonomous Navigation

An embedded laser vision system for indoor autonomous navigation of an Unmanned Aerial Vehicle (UAV) is presented. The vision system is composed of a camera, a classical laser line and vision algorithms and it estimates its distance and its heading with respect to a wall placed in front of the camer...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2013, Vol.69 (1-4), p.447-457
Main Authors: Sanahuja, Guillaume, Castillo, Pedro
Format: Article
Language:English
Subjects:
Algorithms
Artificial Intelligence
Autonomous navigation
Cameras
Control
Electrical Engineering
Engineering
Image processing
Indoor
Lasers
Mechanical Engineering
Mechatronics
Robotics
Unmanned aerial vehicles
Vision systems
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Summary:An embedded laser vision system for indoor autonomous navigation of an Unmanned Aerial Vehicle (UAV) is presented. The vision system is composed of a camera, a classical laser line and vision algorithms and it estimates its distance and its heading with respect to a wall placed in front of the camera frame. The image processing is executed onboard and the obtained measures are sent to the microprocessor to compute the control algorithms. A flight simulator is developed in order to validate the control strategy. Additionally, flight tests are carried out in order to prove the efficiency of the closed-loop system.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-012-9705-6