1-Point-based Monocular Motion Estimation for Computationally-Limited Micro Aerial Vehicles

International audienceWe propose a novel method to estimate the relative motion between two consecutive camera views, which only requires the observation of a single feature in the scene and the knowledge of the angular rates from an inertial measurement unit, under the assumption that the local camera motion lies in a plane perpendicular to the gravity vector. Using this 1- point motion parametrization, we provide two very efficient algorithms to remove the outliers of the feature-matching process. Thanks to their inherent efficiency, the proposed algorithms are very suitable for computationally-limited robots. We test the proposed approaches on both synthetic and real data, using video footage from a small flying quadrotor. We show that our methods outperform standard RANSAC-based implementations by up to two orders of magnitude in speed, while being able to identify the majority of the inliers

1-Point-based Monocular Motion Estimation for Computationally-Limited Micro Aerial Vehicles

International audienceWe propose a novel method to estimate the relative motion between two consecutive camera views, which only requires the observation of a single feature in the scene and the knowledge of the angular rates from an inertial measurement unit, under the assumption that the local camera motion lies in a plane perpendicular to the gravity vector. Using this 1- point motion parametrization, we provide two very efficient algorithms to remove the outliers of the feature-matching process. Thanks to their inherent efficiency, the proposed algorithms are very suitable for computationally-limited robots. We test the proposed approaches on both synthetic and real data, using video footage from a small flying quadrotor. We show that our methods outperform standard RANSAC-based implementations by up to two orders of magnitude in speed, while being able to identify the majority of the inliers

Fast, Autonomous Flight in GPS-Denied and Cluttered Environments

One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This challenge is addressed in the present paper. We describe the system design and software architecture of our proposed solution, and showcase how all the distinct components can be integrated to enable smooth robot operation. We provide critical insight on hardware and software component selection and development, and present results from extensive experimental testing in real-world warehouse environments. Experimental testing reveals that our proposed solution can deliver fast and robust aerial robot autonomous navigation in cluttered, GPS-denied environments.Comment: Pre-peer reviewed version of the article accepted in Journal of Field Robotic

Pushbroom Stereo for High-Speed Navigation in Cluttered Environments

We present a novel stereo vision algorithm that is capable of obstacle detection on a mobile-CPU processor at 120 frames per second. Our system performs a subset of standard block-matching stereo processing, searching only for obstacles at a single depth. By using an onboard IMU and state-estimator, we can recover the position of obstacles at all other depths, building and updating a full depth-map at framerate. Here, we describe both the algorithm and our implementation on a high-speed, small UAV, flying at over 20 MPH (9 m/s) close to obstacles. The system requires no external sensing or computation and is, to the best of our knowledge, the first high-framerate stereo detection system running onboard a small UAV

From Monocular SLAM to Autonomous Drone Exploration

Micro aerial vehicles (MAVs) are strongly limited in their payload and power capacity. In order to implement autonomous navigation, algorithms are therefore desirable that use sensory equipment that is as small, low-weight, and low-power consuming as possible. In this paper, we propose a method for autonomous MAV navigation and exploration using a low-cost consumer-grade quadrocopter equipped with a monocular camera. Our vision-based navigation system builds on LSD-SLAM which estimates the MAV trajectory and a semi-dense reconstruction of the environment in real-time. Since LSD-SLAM only determines depth at high gradient pixels, texture-less areas are not directly observed so that previous exploration methods that assume dense map information cannot directly be applied. We propose an obstacle mapping and exploration approach that takes the properties of our semi-dense monocular SLAM system into account. In experiments, we demonstrate our vision-based autonomous navigation and exploration system with a Parrot Bebop MAV

Bio-inspired vision-based leader-follower formation flying in the presence of delays

Flocking starlings at dusk are known for the mesmerizing and intricate shapes they generate, as well as how fluid these shapes change. They seem to do this effortlessly. Real-life vision-based flocking has not been achieved in micro-UAVs (micro Unmanned Aerial Vehicles) to date. Towards this goal, we make three contributions in this paper: (i) we used a computational approach to develop a bio-inspired architecture for vision-based Leader-Follower formation flying on two micro-UAVs. We believe that the minimal computational cost of the resulting algorithm makes it suitable for object detection and tracking during high-speed flocking; (ii) we show that provided delays in the control loop of a micro-UAV are below a critical value, Kalman filter-based estimation algorithms are not required to achieve Leader-Follower formation flying; (iii) unlike previous approaches, we do not use external observers, such as GPS signals or synchronized communication with flock members. These three contributions could be useful in achieving vision-based flocking in GPS-denied environments on computationally-limited agents