Binocular Stereo Vision Based 3D Mapping for Micro Aerial Vehicles in an Indoor Environment

YU Xiaohuan; HAN Bo; ZHANG Yu; LI Ping

doi:10.13976/j.cnki.xk.2014.0392

Volume 43 Issue 4

Aug. 2014

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INFORMATION AND CONTROL > 2014 > 43(4): 392-397. > DOI: 10.13976/j.cnki.xk.2014.0392 CSTR: 32166.14.xk.2014.0392

YU Xiaohuan, HAN Bo, ZHANG Yu, LI Ping. Binocular Stereo Vision Based 3D Mapping for Micro Aerial Vehicles in an Indoor Environment[J]. INFORMATION AND CONTROL, 2014, 43(4): 392-397. DOI: 10.13976/j.cnki.xk.2014.0392

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Binocular Stereo Vision Based 3D Mapping for Micro Aerial Vehicles in an Indoor Environment

School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, China

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Received Date: July 29, 2013
Revised Date: June 11, 2014
Published Date: August 19, 2014

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Abstract

In order to meet the demands of obstacle avoidance and path planning for micro aerial vehicle (MAV) in an indoor environment,we establish a low cost embedded binocular stereo vision platform based on a BeagleBoard-xM board and consumer-grade cameras. With the indoor environment information obtained through the binocular stereo vision system,based on a 3D space description model-octree and an inverse sensor model and combined with the attitude information of the MAV,we propose a 3D map-building method described with a 3D occupancy map. The result of the experiment shows that the 3D occupancy map acquired by embedded binocular stereo vision system described the indoor environment of MAV accurately and effectively. It can thus be used widely in unmanned aerial vehicle navigation in an indoor environment.
- micro aerial vehicle (MAV),
- binocular stereo vision,
- octree,
- 3D occupancy map

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