[quote][b]Quadrotor Autonomous Flight and Obstacle Avoidance with Kinect Sensor[/b]
This work is part of the STARMAC Project in the Hybrid Systems Lab at UC Berkeley (EECS department). http://hybrid.eecs.berkeley.edu/
Researcher: Patrick Bouffard
PI: Prof. Claire Tomlin
Our lab’s Ascending Technologies [1] Pelican quadrotor, flying autonomously and avoiding obstacles.[/quote]
Kinect e ancora Kinect, altro giorno e altro video che ne dimostra un uso alternativo a quello videogiochistico, questa volta il sensore è stato installato sulla parte superiore di questo quadrirotore, permettendo di riconoscere ed evitare ostacoli in tempo reale.
Ulteriori informazioni:
[spoiler][quote]The attached Microsoft Kinect [2] delivers a point cloud to the onboard computer via the ROS [3] kinect driver, which uses the OpenKinect/Freenect [4] project’s driver for hardware access. A sample consensus algorithm [5] fits a planar model to the points on the floor, and this planar model is fed into the controller as the sensed altitude. All processing is done on the on-board 1.6 GHz Intel Atom based computer, running Linux (Ubuntu 10.04).
A VICON [6] motion capture system is used to provide the other necessary degrees of freedom (lateral and yaw) and acts as a safety backup to the Kinect altitude–in case of a dropout in the altitude reading from the Kinect data, the VICON based reading is used instead. In this video however, the safety backup was not needed.
[1] http://www.asctec.de
[2] http://www.microsoft.com
[3] http://www.ros.org/wiki/kinect
[4] http://openkinect.org
[5] http://www.ros.org/wiki/pcl
[6] http://www.vicon.com[/quote][/spoiler]