Title :
Visual 3D self localization with 8 gram circuit board for very compact and fully autonomous unmanned aerial vehicles
Author :
Konomura, Ryo ; Hori, Kenji
Author_Institution :
Dept. of Aeronaut. & Astronaut., Univ. of Tokyo, Tokyo, Japan
fDate :
May 31 2014-June 7 2014
Abstract :
We describe an algorithm and hardware system of a 3D self-localization method for very cost effective hovering robots. The hardware system consists of very compact calculation and sensor units, instead of using a high performance calculation unit like a laptop PC. In the experiment, the comparison with the ground truth sensor is discussed and implementation of the system on a palm-sized quad-copter is studied to realize a very compact, on-board, fully autonomous quad-copter.
Keywords :
autonomous aerial vehicles; helicopters; printed circuits; autonomous unmanned aerial vehicles; ground truth sensor; hardware system; hovering robots; palm-sized quad-copter; visual 3D self localization; Cameras; Feature extraction; Field programmable gate arrays; Hardware; Robot sensing systems; Three-dimensional displays;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6907625
