オープンビジョンコンピュータ：移動ロボット向け統合センシング・計算システム
The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots
小型ドローンの高速自律飛行を支えるため、サイズ・重量・消費電力・計算性能を考慮した統合センシング・計算システム「Open Vision Computer」を開発し、Falcon 250で屋内屋外の自律探索・ナビゲーションを実現した。
著者: Morgan Quigley, Kartik Mohta, Shreyas S. Shivakumar, Michael Watterson, Yash Mulgaonkar, Mikael Arguedas, Ke Sun, Sikang Liu, Bernd Pfrommer, Vijay Kumar, Camillo J. Taylor
分類: cs.RO
原文アブストラクト
In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a system that would be suitable for relatively small-scale flying platforms where size, weight, power consumption and computational performance were all important considerations. This manuscript describes the primary features of our OVC system and explains how they are used to support fully autonomous indoor and outdoor exploration and navigation operations on our Falcon 250 quadrotor platform.
関連論文
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