Stereo-Inertial 3D Perception Embedded System for UAVs

In many environments where it is difficult, or dangerous, for someone to reach, it is important to have an autonomous system that can explore the environment.

Inertial-Visual sensors have been used in navigation systems, stereo image reconstruction, map generation and visual inspection. Moreover, not only Inertial-Visual (I-V) sensors can be used indoors, as they offer more accuracy than typical GPS systems, thus they can be used into a new series of applications that couldn’t be tackled before.

IIn this project you will explore the capabilities of the I-V sensor from Skybotix, a stereo-inertial sensing system with an embedded FPGA, to do a 3D reconstruction using data from a flying quadcopter.


Work Plan

The following tasks are planned for this topic: T1 requirement assessment, decision on approach and interface the Inertial-Visual sensor; T2 generation of the 3D reconstruction from the I-V sensor; T3 integration of the I-V sensor with the quadcopter; T4 experimental validation of solution; T5 writing of final dissertation. The end result is a dissertation and using the data of the I-V sensor as part of an autonomous system.



Supervisor::Prof. Jorge Lobo (DEEC-FCTUC)

Co-supervisor::Dr. Rui Duarte (ISR Coimbra)


This work is within the scope of the BAMBI European FET Project (FET Project - FP7-ICT-2013-C). The project takes a bottom-up approaches to building machines dedicated to Bayesian inference. Within the BAMBI consortium, ISRUC is working on the emulation hardware implementation and on the computational architecture to be developed, namely in the composition of basic building blocks for probabilistic computation. http://mrl.isr.uc.pt/projects/bambi/



- J. Lobo, J. F. Ferreira, P. Trindade and J. Dias - "Bayesian 3D Independent Motion Segmentation with IMU-Aided RBG-D Sensor". In proceedings of the 2012 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2012), Hamburg, September, 2012.

- http://www.skybotix.com/


The work will be carried out at the Institute of Systems and Robotics, ISR, in a lab fully equipped for FPGA prototyping and artificial perception. For more details, please contact jlobo@isr.uc.pt and visit http://ap.isr.uc.pt.