Design and Flight Demonstration of a Quadrotor for Urban Mapping and Target Tracking Research
CoRR(2024)
摘要
This paper describes the hardware design and flight demonstration of a small
quadrotor with imaging sensors for urban mapping, hazard avoidance, and target
tracking research. The vehicle is equipped with five cameras, including two
pairs of fisheye stereo cameras that enable a nearly omnidirectional view and a
two-axis gimbaled camera. An onboard NVIDIA Jetson Orin Nano computer running
the Robot Operating System software is used for data collection. An autonomous
tracking behavior was implemented to coordinate the motion of the quadrotor and
gimbaled camera to track a moving GPS coordinate. The data collection system
was demonstrated through a flight test that tracked a moving GPS-tagged vehicle
through a series of roads and parking lots. A map of the environment was
reconstructed from the collected images using the Direct Sparse Odometry (DSO)
algorithm. The performance of the quadrotor was also characterized by acoustic
noise, communication range, battery voltage in hover, and maximum speed tests.
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关键词
Target Tracking,Image Sensor,Data Collection System,Communication Range,Environment Map,Fisheye Lens,Robot Operating System,Acoustic Noise,Autonomous Behavior,Flight Test,Pair Of Cameras,3D Printing,Urban Environments,Secondary Cell,Unmanned Aerial Vehicles,Data Streams,Low Altitude,Battery Power,Path Planning,Autopilot,Flight Control,Standoff Distance,Imagery Collection,Video Feed,Onboard Sensors,Top Speed,Sensor Selection
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