Next Article in Journal
Powerplant Reliability Issues and Wear Monitoring in Aircraft Piston Engines. Part II: Engine Diagnostic
Next Article in Special Issue
Use of UAV-Borne Spectrometer for Land Cover Classification
Previous Article in Journal
Development of a Wall-Sticking Drone for Non-Destructive Ultrasonic and Corrosion Testing
Previous Article in Special Issue
UAS Navigation with SqueezePoseNet—Accuracy Boosting for Pose Regression by Data Augmentation
Open AccessArticle

Effective Exploration for MAVs Based on the Expected Information Gain

Institute of Geodesy and Geoinformation, University of Bonn, 53115 Bonn, Germany
Author to whom correspondence should be addressed.
Received: 19 December 2017 / Revised: 28 February 2018 / Accepted: 3 March 2018 / Published: 6 March 2018
Micro aerial vehicles (MAVs) are an excellent platform for autonomous exploration. Most MAVs rely mainly on cameras for buliding a map of the 3D environment. Therefore, vision-based MAVs require an efficient exploration algorithm to select viewpoints that provide informative measurements. In this paper, we propose an exploration approach that selects in real time the next-best-view that maximizes the expected information gain of new measurements. In addition, we take into account the cost of reaching a new viewpoint in terms of distance and predictability of the flight path for a human observer. Finally, our approach selects a path that reduces the risk of crashes when the expected battery life comes to an end, while still maximizing the information gain in the process. We implemented and thoroughly tested our approach and the experiments show that it offers an improved performance compared to other state-of-the-art algorithms in terms of precision of the reconstruction, execution time, and smoothness of the path. View Full-Text
Keywords: exploration; information gain; vision exploration; information gain; vision
Show Figures

Figure 1

MDPI and ACS Style

Palazzolo, E.; Stachniss, C. Effective Exploration for MAVs Based on the Expected Information Gain. Drones 2018, 2, 9.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

Back to TopTop