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This paper presents our solution for enabling a quadrotor helicopter to autonomously navigate unstructured and unknown indoor environments. We compare two sensor suites, specifically a laser rangefinder and a stereo camera. Laser and camera sensors are both well-suited for recovering the helicopter's relative motion and velocity. Because they use different cues from the environment, each sensor has its own set of advantages and limitations that are complimentary to the other sensor. Our eventual goal is to integrate both sensors on-board a single helicopter platform, leading to the development of an autonomous helicopter system that is robust to generic indoor environmental conditions. In this paper, we present results in this direction, describing the key components for autonomous navigation using either of the two sensors separately.
Achtelik et al. (Mon,) studied this question.