M. van der Veen
- Closing the gap between simulation and reality in the sensor and motion models of an autonomous AR.Drone
- The International Micro Air Vehicles conference 2011
- Book/source title
- Proceedings of the International Micro Air Vehicles conference 2011
- Document type
- Conference contribution
- Faculty of Science (FNWI)
- Informatics Institute (IVI)
This article describes a method to develop an advanced navigation capability for the standard platform of the IMAV indoor competition: the Parrot AR.Drone. Our development is partlybased on simulation, which requires both a re-alistic sensor and motion model. This article de-scribes how a visual map of the indoor environ-ment can be made, including the effect of sensor noise. In addition, validation results for the mo-tion model are presented. On this basis, it shouldbe possible to learn elevation maps, optimal paths on this visual map and to autonomously avoid obstacles based on optical ﬂow.
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