Performance Evaluation of Vision-Based Algorithms for MAVs
Computer Vision and Pattern Recognition
2015-05-12 v1
Abstract
An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable algorithms for localization and mapping of the environment are necessary in order to keep an MAV airborne safely. In this paper, we compare vision-based real-time capable methods for localization and mapping and point out their strengths and weaknesses. Additionally, we describe algorithms for state estimation, control and navigation, which use the localization and mapping results of our vision-based algorithms as input.
Cite
@article{arxiv.1505.02247,
title = {Performance Evaluation of Vision-Based Algorithms for MAVs},
author = {T. Holzmann and R. Prettenthaler and J. Pestana and D. Muschick and G. Graber and C. Mostegel and F. Fraundorfer and H. Bischof},
journal= {arXiv preprint arXiv:1505.02247},
year = {2015}
}
Comments
Presented at OAGM Workshop, 2015 (arXiv:1505.01065)