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Quadrotor Autonomous Flight and Obstacle Avoidance with Kinect Sensor

Patrick Bouffard Patrick Bouffard·8 videos
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Uploaded on Dec 5, 2010

More info: http://hybrid.eecs.berkeley.edu/~bouf...

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.

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

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Top Comments

  • Silverhairedmage

    Hello Skynet, my killer kinnect machine keeps targeting the neighbors cat

    · 33

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  • BigBass992

    next stop: MANHACKS!!

    · 26

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All Comments (612)

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  • thunergun

    i want one...

    ·

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  • Thomas Mason

    the thing that stood out to me was this is a form of thinking. it is looking out at the world and thinking about its enviroment before interacting with it.

    ·

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  • Hugh Jass

    Cracked.com

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  • UtopianMatt

    Shut up and take my money !

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  • 398221002

    SKYNET!

    ·

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  • najib osman

    Cracked sent me here!

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  • Ronnieisup

    One of the most advance commercial 3D camera sensors in the world, and to think i can find it on craigslist for 40 bucks

    ·

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  • ceasefire066

    "hi neo! welcome to the matrix!!"

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  • Nick Fletcher

    wow, if you can map a room with a kinect, imagine the kind of shit that the military have got!

    ·

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  • Haydn Hamilton

    whatever you dont do the MOONWALK in front of it!..it wiil go beserk just like Jackson!

    ·

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