Abstract:
In this paper we explore the combination of a latest generation mobile device and a micro quadrotor platform to perform indoor autonomous navigation for the purpose of au...Show MoreMetadata
Abstract:
In this paper we explore the combination of a latest generation mobile device and a micro quadrotor platform to perform indoor autonomous navigation for the purpose of autonomous photography. We use the Yellowstone tablet from Google's Tango project [1], equipped with onboard, fully integrated sensing platform and with significant computational capability. To the best of our knowledge we are the first to exploit the Google's Tango tablet as source of pose estimate to control the quadrotor's motion. Using the tablet's onboard camera the system is able to detect people and generate a desired pose that the quadrotor will have to reach in order to take a well framed picture of the detected subject. The experimental results and live video demonstrate the capabilities of the autonomous flying robot photographer using the system described throughout this manuscript.
Published in: 2016 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
Date of Conference: 19-22 June 2016
Date Added to IEEE Xplore: 26 September 2016
ISBN Information:
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- IEEE Keywords
- Index Terms
- Mobile Devices ,
- Pose Estimation ,
- Yellowstone ,
- Autonomous Navigation ,
- Indoor Navigation ,
- Positive Control ,
- Reference Frame ,
- Global Positioning System ,
- Kalman Filter ,
- Aerial Vehicles ,
- Processing Power ,
- Inertial Measurement Unit ,
- Yaw Angle ,
- Camera Frame ,
- Ground Station ,
- Simultaneous Localization And Mapping ,
- Autopilot ,
- Laser Ranging ,
- Onboard Computer ,
- Micro Air Vehicles ,
- Ground Robots ,
- Camera Focal Length ,
- Robot Pose ,
- Visual-inertial Odometry ,
- Current Pose ,
- Path Planning ,
- Autonomous Vehicles ,
- Depth Camera ,
- Position In Frame
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Mobile Devices ,
- Pose Estimation ,
- Yellowstone ,
- Autonomous Navigation ,
- Indoor Navigation ,
- Positive Control ,
- Reference Frame ,
- Global Positioning System ,
- Kalman Filter ,
- Aerial Vehicles ,
- Processing Power ,
- Inertial Measurement Unit ,
- Yaw Angle ,
- Camera Frame ,
- Ground Station ,
- Simultaneous Localization And Mapping ,
- Autopilot ,
- Laser Ranging ,
- Onboard Computer ,
- Micro Air Vehicles ,
- Ground Robots ,
- Camera Focal Length ,
- Robot Pose ,
- Visual-inertial Odometry ,
- Current Pose ,
- Path Planning ,
- Autonomous Vehicles ,
- Depth Camera ,
- Position In Frame