Not logged in.
Quick Search - Contribution
Contribution Details
| Type | Conference or Workshop Paper |
| Scope | Discipline-based scholarship |
| Published in Proceedings | Yes |
| Title | Automatic re-initialization and failure recovery for aggressive flight with a monocular vision-based quadrotor |
| Organization Unit | |
| Authors |
|
| Presentation Type | paper |
| Item Subtype | Original Work |
| Refereed | Yes |
| Status | Published in final form |
| Language |
|
| Event Title | IEEE International Conference on Robotics and Automation (ICRA) |
| Event Type | conference |
| Event Location | Seattle WA |
| Event Start Date | May 26 - 2015 |
| Event End Date | May 30 - 2015 |
| Place of Publication | Seattle WA |
| Publisher | Institute of Electrical and Electronics Engineers ( IEEE) |
| Abstract Text | Autonomous, vision-based quadrotor flight is widely regarded as a challenging perception and control problem since the accuracy of a flight maneuver is strongly influenced by the quality of the on-board state estimate. In addition, any vision-based state estimator can fail due to the lack of visual information in the scene or due to the loss of feature tracking after an aggressive maneuver. When this happens, the robot should automatically re-initialize the state estimate to maintain its autonomy and, thus, guarantee the safety for itself and the environment. In this paper, we present a system that enables a monocular-vision–based quadrotor to automatically recover from any unknown, initial attitude with significant velocity, such as after loss of visual tracking due to an aggressive maneuver. The recovery procedure consists of multiple stages, in which the quadrotor, first, stabilizes its attitude and altitude, then, re-initializes its visual state-estimation pipeline before stabilizing fully autonomously. To experimentally demonstrate the performance of our system, we aggressively throw the quadrotor in the air by hand and have it recover and stabilize all by itself. We chose this example as it simulates conditions similar to failure recovery during aggressive flight. Our system was able to recover successfully in several hundred throws in both indoor and outdoor environments. |
| Related URLs |
|
| Other Identification Number | merlin-id:12060 |
| PDF File |
Download from ZORA
|
| Export |
BibTeX
EP3 XML (ZORA)
|