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Autonomous Guidance for a UAS Along a Staircase

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Advances in Visual Computing (ISVC 2015)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 9474))

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Abstract

In the quest for fully autonomous unmanned aerial systems (UAS), multiple challenges are faced. For enabling autonomous UAS navigation in indoor environments, one of the major bottlenecks is the capability to autonomously traverse narrow 3D - passages, like staircases. This paper presents a novel integrated system that implements a semi-autonomous navigation system for a quadcopter. The navigation system permits the UAS to detect a staircase using only the images provided by an on-board monocular camera. A 3D model of this staircase is then automatically reconstructed and this model is used to guide the UAS to the top of the detected staircase. For validating the methodology, a proof of concept is created, based on the Parrot AR.Drone 2.0 which is a cheap commercial off-the-shelf quadcopter.

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Notes

  1. 1.

    https://github.com/olivierdm/thesis2015/raw/master/THESIS-DE_MEYST-GOETHALS-2015.pdf.

  2. 2.

    https://github.com/olivierdm/thesis2015.

  3. 3.

    https://www.youtube.com/channel/UCPZkTI9SgHYo5-yVoVRwC-g.

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Acknowledgment

The research leading to these results has received funding from the European Union Seventh Framework Programme (FP7/2007-2013) under grant agreement number 285417 (ICARUS).

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Authors and Affiliations

  1. Royal Military Academy, Brussels, Belgium

    Olivier De Meyst, Thijs Goethals, Haris Balta, Geert De Cubber & Rob Haelterman

Authors
  1. Olivier De Meyst
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  2. Thijs Goethals
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  3. Haris Balta
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  4. Geert De Cubber
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  5. Rob Haelterman
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Corresponding author

Correspondence to Geert De Cubber .

Editor information

Editors and Affiliations

  1. University of Nevada, Reno, Nevada, USA

    George Bebis

  2. NASA Ames Research Center, Moffett Field, California, USA

    Richard Boyle

  3. Lawrence Berkeley National Laboratory, Berkeley, California, USA

    Bahram Parvin

  4. Desert Research Institute, Reno, Nevada, USA

    Darko Koracin

  5. University of Houston, Houston, Texas, USA

    Ioannis Pavlidis

  6. IBM T.J. Watson Research Center, Yorktown Heights, New York, USA

    Rogerio Feris

  7. Purdue University, West Lafayette, Indiana, USA

    Tim McGraw

  8. Side Effects Software, Santa Monica, California, USA

    Mark Elendt

  9. The DiVE, Durham, North Carolina, USA

    Regis Kopper

  10. Texas A&M University, College Station, Texas, USA

    Eric Ragan

  11. Kent State University, Kent, Ohio, USA

    Zhao Ye

  12. Lawrence Berkeley National Laboratory, Berkeley, California, USA

    Gunther Weber

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De Meyst, O., Goethals, T., Balta, H., De Cubber, G., Haelterman, R. (2015). Autonomous Guidance for a UAS Along a Staircase. In: Bebis, G., et al. Advances in Visual Computing. ISVC 2015. Lecture Notes in Computer Science(), vol 9474. Springer, Cham. https://doi.org/10.1007/978-3-319-27857-5_42

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  • DOI: https://doi.org/10.1007/978-3-319-27857-5_42

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27856-8

  • Online ISBN: 978-3-319-27857-5

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