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Embedded Laser Vision System for Indoor Aerial Autonomous Navigation

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Abstract

An embedded laser vision system for indoor autonomous navigation of an Unmanned Aerial Vehicle (UAV) is presented. The vision system is composed of a camera, a classical laser line and vision algorithms and it estimates its distance and its heading with respect to a wall placed in front of the camera frame. The image processing is executed onboard and the obtained measures are sent to the microprocessor to compute the control algorithms. A flight simulator is developed in order to validate the control strategy. Additionally, flight tests are carried out in order to prove the efficiency of the closed-loop system.

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Authors and Affiliations

  1. Laboratoire Heudiasyc, UMR 7253, Université de Technologie de Compiègne, Compiègne, 60200, France

    Guillaume Sanahuja & Pedro Castillo

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  1. Guillaume Sanahuja
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  2. Pedro Castillo
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Correspondence to Pedro Castillo.

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Sanahuja, G., Castillo, P. Embedded Laser Vision System for Indoor Aerial Autonomous Navigation. J Intell Robot Syst 69, 447–457 (2013). https://doi.org/10.1007/s10846-012-9705-6

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  • DOI: https://doi.org/10.1007/s10846-012-9705-6

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