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The European Project sFly: Swarm of Micro Flying Robots sfly EU FP7, 2009-2011

The European Project sFly: Swarm of Micro Flying Robots www.sfly.org EU FP7, 2009-2011. z. . x. y. Inspector. Personnel operates in high risk environment. Replace by tele-operated aerial inspection vehicle. Micro-UAVs for Rescue and Inspection.

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The European Project sFly: Swarm of Micro Flying Robots sfly EU FP7, 2009-2011

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  1. The European Project sFly:Swarm of Micro Flying Robots www.sfly.orgEU FP7, 2009-2011

  2. z  x y Inspector Personnel operates in high risk environment Replace by tele-operated aerial inspection vehicle Micro-UAVs for Rescue and Inspection • Autonomous micro helicopters are about to play major roles in tasks like: • search and rescue • environment monitoring • inspection • Access to environments where no human or other vehicles gets access to, • Reducing the risk for the environment and people

  3. Consortium • Switzerland • ETH Autonomous Systems Lab (leader) • ETH Computer Vision Lab • CSEM: Centre Suisse d'Electronique et de Microtechnique • France • INRIA: French National Research Institute • Greece • Techical University of Crete • Germany • Ascending Technology

  4. sFly: objectives • Coordinated flight in small swarms in constrained and dense environments (e.g. urban) • Inter-distance estimation • Low power communication (between helicopters and with the ground station using GSM) • Inherently safe (< 1 Kg) • Capable of autonomous navigation in GPS denied environments • Vision-based fully autonomous navigation and mapping

  5. The System • The Platform • Hummingbird quadrotor helicopter from Ascending Technologies (www.asctec.de) • 50 cm diameter • 200 g additional payload • on-board IMU (roll, pitch, yaw) • The camera • 190º field-of-view fisheye camera • On-board Processing • Intel Atom, 1.6 GHz

  6. Evolution of the platform 1st version: Hummingbird 2nd version: Pelican 3rd version: Hexacopter

  7. The Problem:Vision-based motion estimation… … and 3D reconstruction R, T = ? … without GPS. How?

  8. How does it work? R, T = ? Image 1 Image 2

  9. Outdoor Results • Stable hovering at 15 m height • Large scale reconstruction form aerial images during autonomous flight

  10. sFly: what’s the next step? • Coordinated flight with multiple helicopters using single cameras only For more info: www.sfly.org Contact: davide.scaramuzza@ieee.org

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