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Published byOsborn Spencer Logan Modified over 9 years ago
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The European Project sFly: Swarm of Micro Flying Robots www.sfly.org EU FP7, 2009-2011 www.sfly.org
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Micro-UAVs for Rescue and Inspection Autonomous micro helicopters are about to play major roles in tasks like: search and rescue environment monitoring inspection Access to environments where no human or other vehicles gets access to, Reducing the risk for the environment and people Inspector x y z Personnel operates in high risk environmentReplace by tele-operated aerial inspection vehicle
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Consortium Switzerland ETH Autonomous Systems Lab (leader) ETH Computer Vision Lab CSEM: Centre Suisse d'Electronique et de Microtechnique France INRIA: French National Research Institute Greece Techical University of Crete Germany Ascending Technology
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sFly: objectives Coordinated flight in small swarms in constrained and dense environments (e.g. urban) Inter-distance estimation Low power communication (between helicopters and with the ground station using GSM) Inherently safe (< 1 Kg) Capable of autonomous navigation in GPS denied environments Vision-based fully autonomous navigation and mapping
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The System The Platform Hummingbird quadrotor helicopter from Ascending Technologies ( www.asctec.de ) 50 cm diameter 200 g additional payload on-board IMU (roll, pitch, yaw) The camera 190º field-of-view fisheye camera On-board Processing Intel Atom, 1.6 GHz
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Evolution of the platform 1 st version: Hummingbird 2 nd version: Pelican 3rd version: Hexacopter
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The Problem: Vision-based motion estimation… R, T = ? … and 3D reconstruction … without GPS. How?
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How does it work? Image 1 Image 2 R, T = ?
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Outdoor Results Stable hovering at 15 m height Large scale reconstruction form aerial images during autonomous flight
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sFly: what’s the next step? Coordinated flight with multiple helicopters using single cameras only For more info: www.sfly.orgwww.sfly.org Contact: davide.scaramuzza@ieee.orgdavide.scaramuzza@ieee.org
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