the european project sfly: swarm of micro flying robots sfly eu fp7, 2009-2011

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The European Project sFly: Swarm of Micro Flying Robots www.sfly.org EU FP7, 2009-2011

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The European Project sFly: Swarm of Micro Flying Robots www.sfly.org EU FP7, 2009-2011. z. . x. y. Inspector. Personnel operates in high risk environment. Replace by tele-operated aerial inspection vehicle. Micro-UAVs for Rescue and Inspection. - PowerPoint PPT Presentation

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The European Project sFly:Swarm of Micro Flying Robots

www.sfly.org

EU FP7, 2009-2011

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

xy

z

Personnel operates in high risk environment Replace by tele-operated aerial inspection vehicle

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

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

The SystemThe 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 ProcessingIntel Atom, 1.6 GHz

Evolution of the platform

1st version: Hummingbird

2nd version: Pelican

3rd version: Hexacopter

The Problem:Vision-based motion estimation…

R, T = ?

… and 3D reconstruction

… without GPS. How?

How does it work?

Image 1 Image 2R, T = ?

Outdoor Results

Stable hovering at 15 m height

Large scale reconstruction form aerial images

during autonomous flight

sFly: what’s the next step?

Coordinated flight with multiple helicopters using single cameras only

For more info: www.sfly.orgContact: [email protected]