LIDAR-based Stabilization, Navigation and Localization for UAVs Operating in Dark Indoor Environments

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00353985" target="_blank" >RIV/68407700:21230/21:00353985 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/ICUAS51884.2021.9476837" target="_blank" >https://doi.org/10.1109/ICUAS51884.2021.9476837</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICUAS51884.2021.9476837" target="_blank" >10.1109/ICUAS51884.2021.9476837</a>

Jazyk výsledku

angličtina

Název v původním jazyce

LIDAR-based Stabilization, Navigation and Localization for UAVs Operating in Dark Indoor Environments

Popis výsledku v původním jazyce

Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose from laser scans generated by an inexpensive and lightweight LIDAR. We propose a localization system for lightweight (under 200 g) LIDAR sensors with high reliability in arbitrary environments, where other methods fail. The general nature of the proposed method allows deployment in wide array of applications. Moreover, seamless transitioning between different kinds of environments is possible. The advantage of LIDAR localization is that it is robust to poor illumination, which is often challenging for camera-based solutions in dark indoor environments and in the case of the transition between indoor and outdoor environment. Our approach allows executing tasks in poorly-illuminated indoor locations such as historic buildings and warehouses, as well as in the tight outdoor environment, such as forest, where vision-based approaches fail due to large contrast of the scene, and where large well-equipped UAVs cannot be deployed due to the constrained space.

Název v anglickém jazyce

LIDAR-based Stabilization, Navigation and Localization for UAVs Operating in Dark Indoor Environments

Popis výsledku anglicky

Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose from laser scans generated by an inexpensive and lightweight LIDAR. We propose a localization system for lightweight (under 200 g) LIDAR sensors with high reliability in arbitrary environments, where other methods fail. The general nature of the proposed method allows deployment in wide array of applications. Moreover, seamless transitioning between different kinds of environments is possible. The advantage of LIDAR localization is that it is robust to poor illumination, which is often challenging for camera-based solutions in dark indoor environments and in the case of the transition between indoor and outdoor environment. Our approach allows executing tasks in poorly-illuminated indoor locations such as historic buildings and warehouses, as well as in the tight outdoor environment, such as forest, where vision-based approaches fail due to large contrast of the scene, and where large well-equipped UAVs cannot be deployed due to the constrained space.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

2021 International Conference on Unmanned Aircraft Systems (ICUAS)

ISBN

978-0-7381-3115-3

ISSN

2373-6720

e-ISSN

2575-7296

Počet stran výsledku

9

Strana od-do

243-251

Název nakladatele

IEEE Xplore

Místo vydání

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Místo konání akce

Athens

Datum konání akce

15. 6. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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