Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments

Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments

This paper presents our solution for enabling a quadrotor helicopter to autonomously navigate unstructured and unknown indoor environments. We compare two sensor suites, specifically a laser rangefinder and a stereo camera. Laser and camera sensors are both well-suited for recovering the helicopter&...

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Bibliographic Details
Main Authors: Prentice, Samuel James (Contributor), He, Ruijie (Contributor), Bachrach, Abraham Galton (Contributor), Achtelik, Markus Wilhelm (Contributor), Roy, Nicholas (Contributor)
Other Authors: Massachusetts Institute of Technology. Department of Aeronautics and Astronautics (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor)
Format: Article
Language:English
Published: SPIE, 2010-03-17T15:50:19Z.
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