Talks and Poster Presentations (with Proceedings-Entry):
M. Leichtfried, C. Kaltenriner, A. Mossel, H. Kaufmann:
"Autonomous Flight using a Smartphone as On-Board Processing Unit in GPS-Denied Environments";
Talk: 11th International Conference on Advances in Mobile Computing & Multimedia (MoMM),
- 2013-12-04; in: "Proceedings of 11th International Conference on Advances in Mobile Computing & Multimedia (MoMM)",
ACM New York, NY, USA,
In this paper, we present a low-weight and low-cost Unmanned
Aerial Vehicle (UAV) for autonomous flight and navigation in GPS-denied environments using an off the shelf
smartphone as its core on-board processing unit. Thereby,
our approach is independent from additional ground
hardware and the UAV core unit can be easily replaced
with more powerful hardware that simpli es setup updates
as well as maintenance. The UAV is able to map, locate
and navigate in an unknown indoor environment fusing vision
based tracking with inertial and attitude measurements.
We choose an algorithmic approach for mapping and localization
that does not require GPS coverage of the target
area, therefore autonomous indoor navigation is made possible.
We demonstrate the UAVs capabilities of mapping,
localization and navigation in an unknown 2D marker environment.
Our promising results enable future research on 3D self-localization and dense mapping using mobile hardware
as the only on-board processing unit.
"Official" electronic version of the publication (accessed through its Digital Object Identifier - DOI)
Electronic version of the publication:
Created from the Publication Database of the Vienna University of Technology.