On the Advantages of Multiple Stereo Vision Camera Designs for Autonomous Drone Navigation

• URL: http://arxiv.org/abs/2105.12691v1
• Date: Wed, 26 May 2021 17:10:20 GMT
• Title: On the Advantages of Multiple Stereo Vision Camera Designs for Autonomous Drone Navigation
• Authors: Rui Pimentel de Figueiredo, Jakob Grimm Hansen, Jonas Le Fevre, Martim Brand\~ao, Erdal Kayacan
• Abstract summary: We showcase the performance of a multi-camera UAV, when coupled with state-of-the-art planning and mapping algorithms. We employ our approaches in an autonomous drone-based inspection task and evaluate them in an autonomous exploration and mapping scenario.
• Score: 7.299239909796724
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: In this work we showcase the design and assessment of the performance of a multi-camera UAV, when coupled with state-of-the-art planning and mapping algorithms for autonomous navigation. The system leverages state-of-the-art receding horizon exploration techniques for Next-Best-View (NBV) planning with 3D and semantic information, provided by a reconfigurable multi stereo camera system. We employ our approaches in an autonomous drone-based inspection task and evaluate them in an autonomous exploration and mapping scenario. We discuss the advantages and limitations of using multi stereo camera flying systems, and the trade-off between number of cameras and mapping performance.

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