Autonomous Flying into Buildings in a Firefighting Scenario
Vaclav Pritzl Petr Stepan Martin Saska Vaclav Pritzl Petr Stepan Martin Saska
We propose an approach enabling an Unmanned Aerial Vehicle (UAV) to autonomously enter a target building through an open window. We use a fusion of depth camera and 2D Light Detection and Ranging (LiDAR) data for window detection and continuous estimation of its position, orientation, and size. The proposed algorithms are capable of running both with and without available a priori information. The...