System Architecture of a Demonstrator for Indoor Aerial Navigation

摘要

The future operational use of Unmanned Aerial Vehicles (UAVs) depends on the level of safety that can be achieved during the flight. Sensing the environment, detecting and avoiding obstacles remains a challenging task. This paper describes the system architecture of a demonstrator using stereo cameras for obstacle detection and avoidance. Furthermore, monocular cameras and Ultra-Wide-Band (UWB) are used for pose estimation and Simultaneous Localization and Mapping (SLAM) algorithms.