On-board dual-stereo-vision for autonomous quadrotor navigation

  title={On-board dual-stereo-vision for autonomous quadrotor navigation},
  author={Konstantin Schauwecker and Andreas Zell},
  journal={2013 International Conference on Unmanned Aircraft Systems (ICUAS)},
We present a quadrotor Micro Aerial Vehicle (MAV) capable of autonomous indoor navigation. The MAV is equipped with four cameras arranged in two stereo configurations. One camera pair is facing forward and serves as input for a reduced stereo SLAM system. The other camera pair is facing downwards and is used for ground plane detection and tracking. All processing, including sparse stereo matching, is run on-board in real-time and at high processing rates. We demonstrate the capabilities of this… CONTINUE READING
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