暗所屋内環境で動作するUAVのためのLiDARによる安定化・ナビゲーション・自己位置推定
LIDAR-based Stabilization, Navigation and Localization for UAVs Operating in Dark Indoor Environments
安価で軽量なLiDARのスキャンから姿勢を推定し、GNSSなしで暗い屋内や森林などでもUAVを安定飛行させる自己位置推定システムを提案した。
著者: Matěj Petrl\' ik, Tom\' aš Krajn\' ik, Martin Saska
分類: cs.RO
原文アブストラクト
Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose from laser scans generated by an inexpensive and lightweight LIDAR. We propose a localization system for lightweight (under 200g) LIDAR sensors with high reliability in arbitrary environments, where other methods fail. The general nature of the proposed method allows deployment in wide array of applications. Moreover, seamless transitioning between different kinds of environments is possible. The advantage of LIDAR localization is that it is robust to poor illumination, which is often challenging for camera-based solutions in dark indoor environments and in the case of the transition between indoor and outdoor environment. Our approach allows executing tasks in poorly-illuminated indoor locations such as historic buildings and warehouses, as well as in the tight outdoor environment, such as forest, where vision-based approaches fail due to large contrast of the scene, and where large well-equipped UAVs cannot be deployed due to the constrained space.
