On-board velocity estimation and closed-loop control of a quadrotor UAV based on optical flow

Volker Grabe, Heinrich Bulthoff, Paolo Robuffo Giordano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

70 Citations (Scopus)

Abstract

Robot vision became a field of increasing importance in micro aerial vehicle robotics with the availability of small and light hardware. While most approaches rely on external ground stations because of the need of high computational power, we will present a full autonomous setup using only on-board hardware. Our work is based on the continuous homography constraint to recover ego-motion from optical flow. Thus we are able to provide an efficient fall back routine for any kind of UAV (Unmanned Aerial Vehicles) since we rely solely on a monocular camera and on on-board computation. In particular, we devised two variants of the classical continuous 4-point algorithm and provided an extensive experimental evaluation against a known ground truth. The results show that our approach is able to recover the ego-motion of a flying UAV in realistic conditions and by only relying on the limited on-board computational power. Furthermore, we exploited the velocity estimation for closing the loop and controlling the motion of the UAV online.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages491-497
Number of pages7
DOIs
Publication statusPublished - 2012 Aug 6

Fingerprint

Optical flows
Unmanned aerial vehicles (UAV)
Hardware
Computer vision
Robotics
Cameras
Availability
Antennas

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Grabe, V., Bulthoff, H., & Giordano, P. R. (2012). On-board velocity estimation and closed-loop control of a quadrotor UAV based on optical flow. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 491-497). [6225328] https://doi.org/10.1109/ICRA.2012.6225328

On-board velocity estimation and closed-loop control of a quadrotor UAV based on optical flow. / Grabe, Volker; Bulthoff, Heinrich; Giordano, Paolo Robuffo.

Proceedings - IEEE International Conference on Robotics and Automation. 2012. p. 491-497 6225328.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Grabe, V, Bulthoff, H & Giordano, PR 2012, On-board velocity estimation and closed-loop control of a quadrotor UAV based on optical flow. in Proceedings - IEEE International Conference on Robotics and Automation., 6225328, pp. 491-497. https://doi.org/10.1109/ICRA.2012.6225328
Grabe V, Bulthoff H, Giordano PR. On-board velocity estimation and closed-loop control of a quadrotor UAV based on optical flow. In Proceedings - IEEE International Conference on Robotics and Automation. 2012. p. 491-497. 6225328 https://doi.org/10.1109/ICRA.2012.6225328
Grabe, Volker ; Bulthoff, Heinrich ; Giordano, Paolo Robuffo. / On-board velocity estimation and closed-loop control of a quadrotor UAV based on optical flow. Proceedings - IEEE International Conference on Robotics and Automation. 2012. pp. 491-497
@inproceedings{62744e66e7744a469fea693ecf9cdffc,
title = "On-board velocity estimation and closed-loop control of a quadrotor UAV based on optical flow",
abstract = "Robot vision became a field of increasing importance in micro aerial vehicle robotics with the availability of small and light hardware. While most approaches rely on external ground stations because of the need of high computational power, we will present a full autonomous setup using only on-board hardware. Our work is based on the continuous homography constraint to recover ego-motion from optical flow. Thus we are able to provide an efficient fall back routine for any kind of UAV (Unmanned Aerial Vehicles) since we rely solely on a monocular camera and on on-board computation. In particular, we devised two variants of the classical continuous 4-point algorithm and provided an extensive experimental evaluation against a known ground truth. The results show that our approach is able to recover the ego-motion of a flying UAV in realistic conditions and by only relying on the limited on-board computational power. Furthermore, we exploited the velocity estimation for closing the loop and controlling the motion of the UAV online.",
author = "Volker Grabe and Heinrich Bulthoff and Giordano, {Paolo Robuffo}",
year = "2012",
month = "8",
day = "6",
doi = "10.1109/ICRA.2012.6225328",
language = "English",
isbn = "9781467314039",
pages = "491--497",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

}

TY - GEN

T1 - On-board velocity estimation and closed-loop control of a quadrotor UAV based on optical flow

AU - Grabe, Volker

AU - Bulthoff, Heinrich

AU - Giordano, Paolo Robuffo

PY - 2012/8/6

Y1 - 2012/8/6

N2 - Robot vision became a field of increasing importance in micro aerial vehicle robotics with the availability of small and light hardware. While most approaches rely on external ground stations because of the need of high computational power, we will present a full autonomous setup using only on-board hardware. Our work is based on the continuous homography constraint to recover ego-motion from optical flow. Thus we are able to provide an efficient fall back routine for any kind of UAV (Unmanned Aerial Vehicles) since we rely solely on a monocular camera and on on-board computation. In particular, we devised two variants of the classical continuous 4-point algorithm and provided an extensive experimental evaluation against a known ground truth. The results show that our approach is able to recover the ego-motion of a flying UAV in realistic conditions and by only relying on the limited on-board computational power. Furthermore, we exploited the velocity estimation for closing the loop and controlling the motion of the UAV online.

AB - Robot vision became a field of increasing importance in micro aerial vehicle robotics with the availability of small and light hardware. While most approaches rely on external ground stations because of the need of high computational power, we will present a full autonomous setup using only on-board hardware. Our work is based on the continuous homography constraint to recover ego-motion from optical flow. Thus we are able to provide an efficient fall back routine for any kind of UAV (Unmanned Aerial Vehicles) since we rely solely on a monocular camera and on on-board computation. In particular, we devised two variants of the classical continuous 4-point algorithm and provided an extensive experimental evaluation against a known ground truth. The results show that our approach is able to recover the ego-motion of a flying UAV in realistic conditions and by only relying on the limited on-board computational power. Furthermore, we exploited the velocity estimation for closing the loop and controlling the motion of the UAV online.

UR - http://www.scopus.com/inward/record.url?scp=84864470597&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84864470597&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2012.6225328

DO - 10.1109/ICRA.2012.6225328

M3 - Conference contribution

AN - SCOPUS:84864470597

SN - 9781467314039

SP - 491

EP - 497

BT - Proceedings - IEEE International Conference on Robotics and Automation

ER -