The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We present an overview of the autonomous helicopter project at Carnegie Mellon's Robotics Institute. The goal of this project is to autonomously fly helicopters using computer vision closely integrated with other on-board sensors. We discuss a concrete example mission designed to demonstrate the viability of vision-based helicopter flight and specify the components necessary to accomplish this mission. Major components include customized vision processing hardware designed for high bandwidth and low latency processing and 6-degree-of-freedom test stand designed for realistic and safe indoor experiments using model helicopters. We describe our progress in accomplishing an indoor mission and show experimental results of estimating helicopter state with computer vision during actual flight experiments.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Associated Lab(s) / Group(s): Helicopter Lab

Associated Project(s): Autonomous Helicopter

Number of pages: 8

Text Reference

Omead Amidi, Yuji Mesaki, and Takeo Kanade, "Research on an Autonomous Vision-Guided Helicopter," Journal of the American Institute of Aeronautics and Astronautics, , 1993

BibTeX Reference

@article{Amidi_1993_4229,
   author = "Omead Amidi and Yuji Mesaki and Takeo Kanade",
   title = "Research on an Autonomous Vision-Guided Helicopter",
   journal = "Journal of the American Institute of Aeronautics and Astronautics",
   publisher = "American Institute of Aeronautics and Astronautics, Inc.",
   year = "1993",
}

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