Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XXXVIII-1/C22, 13-18, 2011
https://doi.org/10.5194/isprsarchives-XXXVIII-1-C22-13-2011
© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.
 
06 Sep 2012
THE PIXHAWK OPEN-SOURCE COMPUTER VISION FRAMEWORK FOR MAVS
L. Meier, P. Tanskanen, F. Fraundorfer, and M. Pollefeys Institute for Visual Computing, Computer Vision and Geometry Lab Swiss Federal Institute of Technology / ETH Zurich CAB G 86.3, Universitaetstrasse 6, 8092 Zurich
Keywords: UAVs, MAVs, computer vision, open source, middleware, hardware Abstract. Unmanned aerial vehicles (UAV) and micro air vehicles (MAV) are already intensively used in geodetic applications. State of the art autonomous systems are however geared towards the application area in safe and obstacle-free altitudes greater than 30 meters. Applications at lower altitudes still require a human pilot. A new application field will be the reconstruction of structures and buildings, including the facades and roofs, with semi-autonomous MAVs. Ongoing research in the MAV robotics field is focusing on enabling this system class to operate at lower altitudes in proximity to nearby obstacles and humans. PIXHAWK is an open source and open hardware toolkit for this purpose. The quadrotor design is optimized for onboard computer vision and can connect up to four cameras to its onboard computer. The validity of the system design is shown with a fully autonomous capture flight along a building.
Conference paper (PDF, 6751 KB)


Citation: Meier, L., Tanskanen, P., Fraundorfer, F., and Pollefeys, M.: THE PIXHAWK OPEN-SOURCE COMPUTER VISION FRAMEWORK FOR MAVS, Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XXXVIII-1/C22, 13-18, https://doi.org/10.5194/isprsarchives-XXXVIII-1-C22-13-2011, 2011.

BibTeX EndNote Reference Manager XML