TY - GEN
T1 - Autonomous guidance for a uas along a staircase
AU - De Meyst, Olivier
AU - Goethals, Thijs
AU - Balta, Haris
AU - De Cubber, Geert
AU - Haelterman, Rob
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2015.
PY - 2015
Y1 - 2015
N2 - In the quest for fully autonomous unmanned aerial systems (UAS), multiple challenges are faced. For enabling autonomous UAS navigation in indoor environments, one of the major bottlenecks is the capability to autonomously traverse narrow 3D - passages, like staircases. This paper presents a novel integrated system that implements a semiautonomous navigation system for a quadcopter. The navigation system permits the UAS to detect a staircase using only the images provided by an on-board monocular camera. A 3D model of this staircase is then automatically reconstructed and this model is used to guide the UAS to the top of the detected staircase. For validating the methodology, a proof of concept is created, based on the Parrot AR.Drone 2.0 which is a cheap commercial off-the-shelf quadcopter.
AB - In the quest for fully autonomous unmanned aerial systems (UAS), multiple challenges are faced. For enabling autonomous UAS navigation in indoor environments, one of the major bottlenecks is the capability to autonomously traverse narrow 3D - passages, like staircases. This paper presents a novel integrated system that implements a semiautonomous navigation system for a quadcopter. The navigation system permits the UAS to detect a staircase using only the images provided by an on-board monocular camera. A 3D model of this staircase is then automatically reconstructed and this model is used to guide the UAS to the top of the detected staircase. For validating the methodology, a proof of concept is created, based on the Parrot AR.Drone 2.0 which is a cheap commercial off-the-shelf quadcopter.
UR - http://www.scopus.com/inward/record.url?scp=84952700914&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-27857-542
DO - 10.1007/978-3-319-27857-542
M3 - Conference contribution
AN - SCOPUS:84952700914
SN - 9783319278568
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 466
EP - 475
BT - Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings
A2 - Elendt, Mark
A2 - Boyle, Richard
A2 - Ragan, Eric
A2 - Parvin, Bahram
A2 - Feris, Rogerio
A2 - McGraw, Tim
A2 - Pavlidis, Ioannis
A2 - Kopper, Regis
A2 - Bebis, George
A2 - Koracin, Darko
A2 - Ye, Zhao
A2 - Weber, Gunther
PB - Springer
T2 - 11th International Symposium on Advances in Visual Computing, ISVC 2015
Y2 - 14 December 2015 through 16 December 2015
ER -