Vision-Based Heading and Lateral Deviation Estimation for Indoor Navigation of a Quadrotor

ABSTRACT

In this paper, an effective vanishing point detection method based on grid-based approach for navigation of micro aerial vehicles (MAVs) in indoor corridor environment is described. The automation and navigation of MAVs in GPS-denied indoor environments is still a challenging task. To navigate in indoor corridors, on-board camera sensor is used as a sole sensor for estimating both the vehicle position and heading. Finally, the lateral deviation and heading of an MAV from the centre towards the right or left of the corridor are computed using vanishing point coordinates between two successive frames. By exploiting geometrical constraints inside buildings, long-term stable heading information is extracted. It is shown that the proposed method effectively eliminates heading drift in indoor corridor environment and is real-time capable. The measured parameters can be used to control an MAV when it deviates from the desired path of navigation.

KEYWORDS:

• Calibration factor
• Heading
• Lateral deviation
• Micro aerial vehicle
• Vanishing point
• Vision-based indoor navigation

ACKNOWLEDGMENTS

The authors acknowledge the support rendered by Division of Avionics, Department of Aerospace Engineering, Madras Institute of Technology, Anna University, Chennai and thankfully acknowledge Dr P. Vanaja Ranjan, Professor, Department of Electrical and Electronics Engineering, College of Engineering, Anna University, Chennai and Dr Boby George, Associate Professor, Department of Electrical Engineering, Indian Institute of Technology Madras, Chennai for providing comments and suggestions to accomplish this research work.

DISCLOSURE STATEMENT

No potential conflict of interest was reported by the authors.

Additional information

Notes on contributors

Anbarasu Balasubramanian

Anbarasu Balasubramanian received his BE (ECE) degree from Madurai Kamaraj University and ME (Avionics) degree from Anna University. Currently he is working as a teaching fellow in the Department of Aerospace Engineering at MIT Campus, Anna University, Chennai, and pursuing his research in indoor navigation. His research interest includes Avionics, UAV systems, and image processing.

E-mail: [email protected]

Anitha Ganesan

Anitha Ganesan obtained her BE (EEE) degree from ACCET, Karaikudi, and MTech (Control & Instrumentation) degree from IITM, Chennai, and PhD degree in Avionics from Anna University, Chennai. She is working with the Division of Avionics, Department of Aerospace Engineering, MIT, Anna University, Chennai. Her research interest includes avionics, aircraft navigation, guidance and control systems, and image processing.

E-mail: [email protected]