Abstract
This research presents a new vision system that explores a spherical geometry and will be provide innovative solutions for tracking, surveillance, navigation and mapping with micro Unmanned Aerial Vehicle (μUAV) in unknown indoor environments. The system will be used with μUAV in indoor environment and it is composed by twenty six cameras that are arranged in order to sample different parts of the visual sphere around the μUAV. This configuration allows that some of the cameras will have overlapped field of view. This system has been designed for the purpose of recovering ego-motion and structure from multiple video images, having a distributed omnidirectional field of view. We use the spherical geometry to extend the field of view, from one single direction to a single point of perspective, but with multiple views. This manuscript will prove that spherical geometric configuration has advantages when compared to stereo cameras for the estimation of the system’s own motion and consequently the estimation of shape models from each camera. The preliminary field tests presented the theoretical potential of this system and the experimental results with the images acquired by 3 cameras.
Chapter PDF
Similar content being viewed by others
References
Morris, W., Dryanovski, I., Xiao, J.: 3D Indoor Mapping for Micro-UAVs Using Hybrid Range Finders and Multi-Volume Occupancy Grids. In: Proc. of Robotics: Science and Systems, RSS (2010)
Ahrens, S., Levine, D., Andrews, G., How, J.P.: Vision-based guidance and control of a hovering vehicle in unknown, GPS-denied Environments. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2643–2648 (2009)
Achtelik, M., Bachrach, A., He, R., Prentice, S., Roy, N.: Stereo Vision and Laser Odometry for Autonomous Helicopters in GPS-Denied Indoor Environments. In: Proceedings of the SPIE Conference on Unmanned Systems Technology XI, Orlando, FL (2009)
Lobo, J.: Integration of Vision and Inertial Sensing. PhD Thesis, U. of Coimbra (2006)
Corke, P., Lobo, J., Dias, J.: An introduction to inertial and visual sensing. International Journal of Robotics Research, Special Issue 2nd Workshop on Integration of Vision and Inertial Sensors 26(6), 519–535 (2007)
Lobo, J., Dias, J.: Relative Pose Calibration Between Visual and Inertial Sensors. International Journal of Robotics Research, Special Issue 2nd Workshop on Integration of Vision and Inertial Sensors 26(6), 561–575 (2007)
Dias, J., Araújo, H., Paredes, C., Batista, J.: Optical Normal Flow Estimation on Log-polar Images. A solution for Real-Time Binocular Vision. Real-Time Imaging Journal 3, 213–228 (1997)
Ashton, K.: That ’Internet of Things’ Thing. RFID Journal (July 22, 2009)
Bouabdallah, S., Siegwart, R.: Full Control of a Quadrotor. In: Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS (2007)
Michael Sobers Jr., D., Chowdhary, G., Johnson, E.N.: Indoor Navigation for Unmanned Aerial Vehicles. In: AIAA Guidance, Navigation, and Control Conference (2009)
Achtelika, M., Bachrach, A., He, R., Prentice, S., Roy, N.: Autonomous navigation and exploration of a quadrotor helicopter in GPS-denied indoor environments. In: Robotics: Science and Systems (2008)
Chowdhary, G., Michael Sobers Jr., D.: Integrated Guidance Navigation and Control for a Fully Autonomous Indoor UAS, Portland, Oregon (2011)
Morris, W., Dryanovski, I., Xiao, J.: 3D Indoor Mapping for Micro-UAVs Using Hybrid Range Finders and Multi-Volume Occupancy Grids. In: Proceedings of Robotics: Science and Systems, RSS (2010)
Ahrens, S., Levine, D., Andrews, G., How, J.P.: Vision-based guidance and control of a hovering vehicle in unknown, GPS-denied environments. In: Proceedings IEEE International Conference on Robotics and Automation, ICRA 2009, pp. 2643–2648 (2009)
Grzonka, S., Grisetti, G., Burgard, W.: A fully autonomous indoor quadrotor. IEEE Transactions on Robotics (99), 1–11 (2012)
Bachrach, A., He, R., Roy, N.: Autonomous Flight in Unknown Indoor Environments. Intl. Journal of Micro Air Vehicles, 217–228 (2009)
Blöesch, M., Weiss, S., Scaramuzza, D., Siegwart, R.: Vision Based MAV Navigation in Unknown and Unstructured Environments. In: IEEE International Conference on Robotics and Automation (2010)
Hartley, R.I., Zisserman, A.: Multiple View Geometry in Computer Vision, 2nd edn. Cambridge University Press (March 2004)
Hartley, R.I.: Lines and points in three views and the trifocal tensor. International Journal of Computer Vision 22(2), 125–140 (1996)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 IFIP International Federation for Information Processing
About this paper
Cite this paper
Caldeira, T., Seneviratne, L., Dias, J. (2013). Indoor Exploration Using a μUAV and a Spherical Geometry Based Visual System. In: Camarinha-Matos, L.M., Tomic, S., Graça, P. (eds) Technological Innovation for the Internet of Things. DoCEIS 2013. IFIP Advances in Information and Communication Technology, vol 394. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37291-9_22
Download citation
DOI: https://doi.org/10.1007/978-3-642-37291-9_22
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-37290-2
Online ISBN: 978-3-642-37291-9
eBook Packages: Computer ScienceComputer Science (R0)