Autonomous guidance for a uas along a staircase

Olivier De Meyst; Thijs Goethals; Haris Balta; Geert De Cubber; Rob Haelterman

doi:10.1007/978-3-319-27857-542

Autonomous guidance for a uas along a staircase

Olivier De Meyst, Thijs Goethals, Haris Balta, Geert De Cubber, Rob Haelterman

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings
Editors	Mark Elendt, Richard Boyle, Eric Ragan, Bahram Parvin, Rogerio Feris, Tim McGraw, Ioannis Pavlidis, Regis Kopper, George Bebis, Darko Koracin, Zhao Ye, Gunther Weber
Publisher	Springer
Pages	466-475
Number of pages	10
ISBN (Print)	9783319278568
DOIs	https://doi.org/10.1007/978-3-319-27857-542
Publication status	Published - 2015
Event	11th International Symposium on Advances in Visual Computing, ISVC 2015 - Las Vegas, United States Duration: 14 Dec 2015 → 16 Dec 2015

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	9474
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	11th International Symposium on Advances in Visual Computing, ISVC 2015
Country/Territory	United States
City	Las Vegas
Period	14/12/15 → 16/12/15

Access to Document

10.1007/978-3-319-27857-542

Cite this

De Meyst, O., Goethals, T., Balta, H., De Cubber, G., & Haelterman, R. (2015). Autonomous guidance for a uas along a staircase. In M. Elendt, R. Boyle, E. Ragan, B. Parvin, R. Feris, T. McGraw, I. Pavlidis, R. Kopper, G. Bebis, D. Koracin, Z. Ye, & G. Weber (Eds.), Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings (pp. 466-475). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9474). Springer. https://doi.org/10.1007/978-3-319-27857-542

De Meyst, Olivier ; Goethals, Thijs ; Balta, Haris et al. / Autonomous guidance for a uas along a staircase. Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings. editor / Mark Elendt ; Richard Boyle ; Eric Ragan ; Bahram Parvin ; Rogerio Feris ; Tim McGraw ; Ioannis Pavlidis ; Regis Kopper ; George Bebis ; Darko Koracin ; Zhao Ye ; Gunther Weber. Springer, 2015. pp. 466-475 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Autonomous guidance for a uas along a staircase",

abstract = "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.",

author = "{De Meyst}, Olivier and Thijs Goethals and Haris Balta and {De Cubber}, Geert and Rob Haelterman",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; 11th International Symposium on Advances in Visual Computing, ISVC 2015 ; Conference date: 14-12-2015 Through 16-12-2015",

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De Meyst, O, Goethals, T, Balta, H, De Cubber, G & Haelterman, R 2015, Autonomous guidance for a uas along a staircase. in M Elendt, R Boyle, E Ragan, B Parvin, R Feris, T McGraw, I Pavlidis, R Kopper, G Bebis, D Koracin, Z Ye & G Weber (eds), Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 9474, Springer, pp. 466-475, 11th International Symposium on Advances in Visual Computing, ISVC 2015, Las Vegas, United States, 14/12/15. https://doi.org/10.1007/978-3-319-27857-542

Autonomous guidance for a uas along a staircase. / De Meyst, Olivier; Goethals, Thijs; Balta, Haris et al.
Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings. ed. / Mark Elendt; Richard Boyle; Eric Ragan; Bahram Parvin; Rogerio Feris; Tim McGraw; Ioannis Pavlidis; Regis Kopper; George Bebis; Darko Koracin; Zhao Ye; Gunther Weber. Springer, 2015. p. 466-475 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9474).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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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.

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T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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BT - Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings

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A2 - Parvin, Bahram

A2 - Feris, Rogerio

A2 - McGraw, Tim

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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 -

De Meyst O, Goethals T, Balta H, De Cubber G , Haelterman R. Autonomous guidance for a uas along a staircase. In Elendt M, Boyle R, Ragan E, Parvin B, Feris R, McGraw T, Pavlidis I, Kopper R, Bebis G, Koracin D, Ye Z, Weber G, editors, Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings. Springer. 2015. p. 466-475. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-27857-542

Autonomous guidance for a uas along a staircase

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