Indoor Three-Dimensional Environment Detection for Aerial Robots

  • Hongtao Zhang
  • Longqiu Li
  • Lin Wang
  • Guangyu Zhang
Chapter
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 129)

Abstract

Indoor autonomous flight of aerial robots is a hot research field in recent years. This paper describes the system architecture and core algorithms for a quadrotor aerial robot, which uses linear structured light to detect unstructured and unknown indoor environments. A model of linear structured light measurement system is built. The measuring principle, the parameters calibration method and the coordinate transformation algorithms are presented. The experiments are performed and the three-dimensional point-cloud map of the experimental environment is determined. It is found that the errors of the experiments for this system are acceptable for environment detection.

Keywords

World Coordinate System Laser Plane Camera Coordinate System Aerial Robot Airborne System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  • Hongtao Zhang
    • 1
  • Longqiu Li
    • 1
  • Lin Wang
    • 1
  • Guangyu Zhang
    • 1
  1. 1.School of Mechatronics EngineeringHarbin Institute of TechnologyHarbinChina

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