Abstract

We present a quad-rotor micro aerial vehicle (MAV) that is capable to fly andnavigateautonomouslyinanunknownenvironment.Theonlysensoryinputused by the MAV are the imagery from two cameras in a stereo configuration, and data from an inertial measurement unit. We apply a fast sparse stereo matching algorithm incombinationwithavisualodometrymethodbasedonPTAMtoestimatethecurrent MAVpose,whichwerequireforautonomouscontrol.Allprocessingisperformedon a single board computer on-board the MAV. To our knowledge, this is the first MAV thatusesstereovisionfornavigation,anddoesnotrelyonvisualmarkersoroff-board processing. In aflight experiment, the MAV was capable to hover autonomously, and it was able to estimate its current position at a rate of 29Hz and with an average error of only 2.8cm.

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