LIS Vision Flight

Open source, simple fixed-wing drone for vision-based flight experiments

The LIS Vision flight project aims to give easy access to a vision-based fixed-wing drone to conduct experiments. It features

• a global shutter camera for vision-based applications
• an oboard single board computer to process vision data and for control
• a flow sensor and a point lidar for vision-based pose estimation
• a high precision RTK GNSS to provide ground truth data
• airspeed sensor for estimates of wind speeds
• a telemetry radio for communication with a ground station
• a PX4 autopilot that handles
  • sensor reading
  • actuator commanding
  • state estimation
  • time-synced camera triggering
  • attitude control
  • communication for RTK corrections

Hardware

Instructions for building the drone can be found in hardware.

Software

Find the instructions for the software setup in software.

Citation

@inproceedings{wueest2018accurate,
  title={Accurate Vision-based Flight with Fixed-Wing Drones},
  author={W{\"u}est, Valentin and Ajanic, Enrico and M{\"u}ller, Matthias and Floreano, Dario},
  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2022},
  organization={IEEE}
}