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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › peer review

Samenvatting

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.

Originele taal-2	Engels
Titel	Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings
Redacteuren	Mark Elendt, Richard Boyle, Eric Ragan, Bahram Parvin, Rogerio Feris, Tim McGraw, Ioannis Pavlidis, Regis Kopper, George Bebis, Darko Koracin, Zhao Ye, Gunther Weber
Uitgeverij	Springer
Pagina's	466-475
Aantal pagina's	10
ISBN van geprinte versie	9783319278568
DOI's	https://doi.org/10.1007/978-3-319-27857-542
Status	Gepubliceerd - 2015
Evenement	11th International Symposium on Advances in Visual Computing, ISVC 2015 - Las Vegas, Verenigde Staten van Amerika Duur: 14 dec. 2015 → 16 dec. 2015

Publicatie series

Naam	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	9474
ISSN van geprinte versie	0302-9743
ISSN van elektronische versie	1611-3349

Congres

Congres	11th International Symposium on Advances in Visual Computing, ISVC 2015
Land/Regio	Verenigde Staten van Amerika
Stad	Las Vegas
Periode	14/12/15 → 16/12/15

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10.1007/978-3-319-27857-542

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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 (editors), Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings (blz. 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. redacteur / 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. blz. 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",

year = "2015",

doi = "10.1007/978-3-319-27857-542",

language = "English",

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series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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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 (uitgave), 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, blz. 466-475, 11th International Symposium on Advances in Visual Computing, ISVC 2015, Las Vegas, Verenigde Staten van Amerika, 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. uitgave / 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. blz. 466-475 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9474).

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › peer review

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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.

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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

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 -

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, redacteurs, Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings. Springer. 2015. blz. 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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