Abstract
We present our ongoing work on autonomous quadrotor UAV navigation using an active vision sensor. We motivate the usage of the active vision sensor instead of standard laser range finders and present the underlying technical and theoretical mechanisms. Initial results on ICP based SLAM obtained with a prototype of this sensor, give rise to a deeper analysis of the active vision sensor in a simulation environment. Therefore, the sensor model is integrated in USARSim. Adaption of the sensor model and results on the active vision SLAM algorithm in the idealized environment are discussed and consequences for the real world application are inferred.
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Drews, S., Lange, S., Protzel, P. (2010). Validating an Active Stereo System Using USARSim. In: Ando, N., Balakirsky, S., Hemker, T., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2010. Lecture Notes in Computer Science(), vol 6472. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17319-6_36
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DOI: https://doi.org/10.1007/978-3-642-17319-6_36
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