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Proceedings Paper

Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments
Author(s): Markus Achtelik; Abraham Bachrach; Ruijie He; Samuel Prentice; Nicholas Roy
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Paper Abstract

This paper presents our solution for enabling a quadrotor helicopter to autonomously navigate unstructured and unknown indoor environments. We compare two sensor suites, specifically a laser rangefinder and a stereo camera. Laser and camera sensors are both well-suited for recovering the helicopter's relative motion and velocity. Because they use different cues from the environment, each sensor has its own set of advantages and limitations that are complimentary to the other sensor. Our eventual goal is to integrate both sensors on-board a single helicopter platform, leading to the development of an autonomous helicopter system that is robust to generic indoor environmental conditions. In this paper, we present results in this direction, describing the key components for autonomous navigation using either of the two sensors separately.

Paper Details

Date Published: 30 April 2009
PDF: 10 pages
Proc. SPIE 7332, Unmanned Systems Technology XI, 733219 (30 April 2009); doi: 10.1117/12.819082
Show Author Affiliations
Markus Achtelik, Technische Univ. München (Germany)
Abraham Bachrach, Massachusetts Institute of Technology (United States)
Ruijie He, Massachusetts Institute of Technology (United States)
Samuel Prentice, Massachusetts Institute of Technology (United States)
Nicholas Roy, Massachusetts Institute of Technology (United States)


Published in SPIE Proceedings Vol. 7332:
Unmanned Systems Technology XI
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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