Open Space Attraction Based Navigation in Dark Tunnels for MAVs

12th International Conference, ICVS 2019 Thessaloniki, Greece, September 23–25, 2019 Proceedings

Document identifier:
Access full text here:10.1007/978-3-030-34995-0_10
Keyword: Engineering and Technology, Electrical Engineering, Electronic Engineering, Information Engineering, Control Engineering, Teknik och teknologier, Elektroteknik och elektronik, Reglerteknik, Depth map estimation, Open space attraction, Visual navigation, Micro Aerial Vehicles
Publication year: 2019
Relevant Sustainable Development Goals (SDGs):
SDG 9 Industry, innovation and infrastructure
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This work establishes a novel framework for characterizing the open space of featureless dark tunnel environments for Micro Aerial Vehicles (MAVs) navigation tasks. The proposed method leverages the processing of a single camera to identify the deepest area in the scene in order to provide a collision free heading command for the MAV. In the sequel and inspired by haze removal approaches, the proposed novel idea is structured around a single image depth map estimation scheme, without metric depth measurements. The core contribution of the developed framework stems from the extraction of a 2D centroid in the image plane that characterizes the center of the tunnel’s darkest area, which is assumed to represent the open space, while the robustness of the proposed scheme is being examined under varying light/dusty conditions. Simulation and experimental results demonstrate the effectiveness of the proposed method in challenging underground tunnel environments.


Christoforos Kanellakis

Luleå tekniska universitet; Signaler och system
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Petros Karvelis

Luleå tekniska universitet; Signaler och system
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George Nikolakopoulos

Luleå tekniska universitet; Signaler och system
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