Korbinian Schmid and his colleagues Teodor Tomic, Felix Ruess, Heiko Hirschmüller and Michael Suppa won the RoboCup Best Paper Award for their paper “Stereo Vision-Based Indoor/Outdoor Navigation for Flying Robots” at the 2013 IROS Conference.
The paper describes the world’s first autonomously flying system that conducts on-board, real-time waypoint navigation with obstacle avoidance in complicated, or geometrically unrestricted, indoor and outdoor environments.
The system exclusively uses an IMU and images from a stereo camera as sensors, which are recalculated as depth maps on an FPGA using the SGM method.
