Visual Navigation for the Parrot AR.Drone (ROS Package)
The tum_ardrone Robot Operating System (ROS) package allows to let the Parrot AR.Drone fly autonomously, using PTAM-based, visual navigation. The package repository is currently maintained by Jakob Engel. The documentation and repository can be found on the ROS wiki pages: http://www.ros.org/wiki/tum_ardrone.
The methods used are detailed further in the corresponding publications:
|Scale-Aware Navigation of a Low-Cost Quadrocopter with a Monocular Camera , In Robotics and Autonomous Systems (RAS), volume 62, 2014. [bib] [pdf]|
|Conference and Workshop Papers|
|Accurate Figure Flying with a Quadrocopter Using Onboard Visual and Inertial Sensing , In Proc. of the Workshop on Visual Control of Mobile Robots (ViCoMoR) at the IEEE/RJS International Conference on Intelligent Robot Systems (IROS), 2012. [bib] [pdf]|
|Camera-Based Navigation of a Low-Cost Quadrocopter , In Proc. of the International Conference on Intelligent Robot Systems (IROS), 2012. [bib] [pdf] [video]|
|Autonomous Camera-Based Navigation of a Quadrocopter , Master's thesis, Technical University Munich, 2011. [bib] [pdf]Distinguished with the SIEMENS award for best Master's Thesis 2012|