PLASE: A Novel Planar Surface Extraction Method for the Autonomous Navigation of Micro-Air Vehicle

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(1)!. Proceedings of the International Micro Air Vehicles conference 2011 summer edition. \]/@U!V!/!b&)*,!\,(2(%!@=%5($*!UY7%($7#&2!"*7+&3!5&%!7+*! /=7&2&4&=-!b()#6(7#&2!&5!"#$%&'/#%!0*+#$,*! [(5#3!@#33#K=#~A!"&+(44(3!L()(*#~A!@#(4(?!`+(7#8#~A!c%(#6!]#23,*9~! ~H,*?#26*!N2-7#7=7*!&5!<*$+2&,&69A!FRCRZ!`(%,-?%&2(!@>*3*2;! *($+! &7+*%! -=$+! 7+(7! 7+*9! $(2! -=8'3#)#3*! 7+*! (%*(;! I2*! 7*$+2#K=*!3*-$%#8*-!(!3#-7%#8=7*3!(::%&($+!>+#,*!-*$&23!&2*! 3*-$%#8*-!(!$&2)*27#&2(,!@]/"!8(-*3!(::%&($+!=-#26!8&7+! ,(-*%! (23! -7*%*&! )#-#&2! -*2-&%-;! <+*! ,(-7! &2*! 6#)*-! (! -*4#' 4(:!8(-*3!7*$+2#K=*!=-#26!&$$=:(2$9!6%#3-;!! ! N2! BED! (! 3*$*27%(,#M*3! (::%&($+! 7&! 4(:! 8=#,3#26! #-! :%&:&-*3! #2! >+#$+! &2*! 2&3*! =7#,#M*-! (! -+(%*3! 4(:! 5%&4! &7+*%! 2&3*-;! N7! >(-! &8-*%)*3! 7+(7! 7+#-! 4*7+&3! >&%?-! >*,,! =2,*--! &2*! 2&3*! +(-! 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(! ,&7! &5! >&%?!+(-!8**2!:*%5&%4*3! =-#26!&:7#$(,! 5,&>! 5&%!2()#6(7#&2! &5! "/0-! 8*$(=-*! &5! #7-! -#4:,#$#79! (23! %*-*48,(2$*! 7&! 8#&,&6#$(,! )#-#&2! -9-7*4-! &5! #2-*$7-! BOA! PD;! N2! BRD! (! +98%#3! (::%&($+! +(-! 8**2! :%&:&-*3! 7+(7! $&48#2*-! EQ! )#3*&! #25&%4(7#&2!5%&4!(!$(4*%(!(23!:&-#7#&2!#25&%4(7#&2!5%&4!(! ,(-*%! -$(22*%;! <+*! @7%=$7=%*! _%&4! "&7#&2! .@_"1! >(-! &87(#2*3!5%&4!)#3*&!$(4*%(!#4(6*-!(23!7+*!#25&%4(7#&2!>(-! 5=-*3!>#7+!g\@!(23!#2*%7#(,!-*2-&%-!#2!&%3*%!7&!#4:%&)*!7+*! ($$=%($9! &5! 2()#6(7#&2;! <+*! *Y7%($7#&2! &5! 4&-7! :%#4#7#)*! 5*(7=%*-! .*;6;! :,(2*A! $&2*A! -:+*%*A! (23! 7&%=-1! #-! (2&7+*%! *55#$#*27! 4*7+&3! 7+(7! $(2! 8*! =-*3! 5&%! %&8=-7! 2()#6(7#&2! &5! "/0-!BTD;!! ! N2! 7+*! >&%?! %*:&%7*3! #2! 7+#-! :(:*%A! >*! #27*23! 7&! *Y7%($7! :,(2(%! -7%=$7=%*-! 5%&4! 7+*! *2)#%&24*27A! -#2$*! 7+*-*! (%*! 7+*! 4&-7! $&44&2! #26%*3#*27! #2! 7+*! 4(2'4(3*! -7%=$7=%*-;! @=%5($*-!(%*!*Y7%($7*3!5%&4!7+*!:&#27!$,&=3!89!-*64*27#26!#7! #27&! $,=-7*%-! =-#26! b&%4(,#M*3! c=7-! BZD! >#7+! (2! #4:%&)*3! (--&$#(7#&2!5=2$7#&2;!<+*!bc=7!#-!$+&-*2!(-!(!-*64*27(7#&2! 7*$+2#K=*! 5&%! #7-! 8%&(3! (::,#$(8#,#79! #2! 7+*! %*,(7*3! $&27*Y7! BCJ'CCD! 8*$(=-*! &5! 8*#26! 8(-*3! &2! 6%(:+! :(%7#7#&2#26! (::%&($+!>+#$+!#-!&2*!&5!7+*!%&8=-7!4*7+&3-!=-*3!#2!#4(6*! -*64*27(7#&2;! <+*! $&4:,*7*! 3*7(#,! &5! 7+*! (,6&%#7+4! #-! 3*-$%#8*3! #2! 7+*! 2*Y7! -*$7#&2;! <+*! %*-=,7*3! :,(2*-! >#,,! 8*! =-*3!#2!&26&#26!>&%?!5&%!7+*!*-7#4(7#&2!&5!"/0!,&$(7#&2!#2! 7+*!:&#27!$,&=3!&5!(2!#23&&%!-$*2*;! !. Abstract— A planar surface extraction method is proposed for the indoor navigation of a micro-air vehicle (MAV). The algorithm finds planar clusters from the unorganized pointclouds. This is achieved by implementing a novel approach that first segments the data points into clusters and then each cluster is estimated for its planarity. The method is tested on indoor point cloud data obtained by 3D PrimeSense based sensor. In order to validate the algorithm, a simulated model containing a set of planes has been constructed, with noise injected into the model. The results of the empirical evaluation suggest that the method performs well even in the presence of the noise and non-planar objects, suggesting that the method will be a viable one for use in MAV navigation in the presence of noisy sensor data.. I.. INTRODUCTION. !. <. LU! U55#$#*27! *Y7%($7#&2! &5! -=%5($*-! 5%&4! 7+*! *2)#%&24*27! #-! (! 5=23(4*27(,! %*K=#%*4*27! 5&%! %&8=-7! %&8&7#$!:*%$*:7#&2A!(,7+&=6+!7+#-!#-!(!$+(,,*26#26!7(-?!(23!(2! ($7#)*! %*-*(%$+! (%*(;! N7! #-! #4:&%7(27! 7&! *Y7%($7! &2,9! 7+&-*! :(%7-! &5! 7+*! *2)#%&24*27! 7+(7! (%*! 4&-7! %*,*)(27! #2! 7+*! 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(2) !. Proceedings of the International Micro Air Vehicles conference 2011 summer edition. 3*-$%#8#26! 7+*! -#4#,(%#79d3#--#4#,(%#79! &5! 7+*! 3(7(;! /-! 4*27#&2*3!#2!BZDA!7+#-!5=2$7#&2!#-!(::,#$(7#&2!-:*$#5#$S!+*2$*! #7!2**3-!7&!8*!4&3#5#*3!#2!&%3*%!7&!>&%?!&2!7+*!7(%6*7!:&#27! $,&=3! 3(7(;! <+*! (--&$#(7#&2! 5=2$7#&2! #2! #7-! &%#6#2(,! 5&%4! %*:%*-*27#26!7+*!>*#6+7-!5&%!*($+!*36*!#-!6#)*2!89!BZDV! !. <+#-! (%7#$,*! #-! &%6(2#M*3! (-! 5&,,&>-V! ! @*$7#&2! NN! :%&)#3*-! 3*7(#,-! &5! 7+*! :%&:&-*3! (,6&%#7+4;! N2! @*$7#&2! NNN! 7+*! (%$+#7*$7=%*! &5! 7+*! 7(%6*7! "/0! :,(75&%4! #-! 3*-$%#8*3;! UY:*%#4*27(,!%*-=,7-!(%*!:%*-*27*3!#2!-*$7#&2!N0!(23!-*$7#&2! 0!:%*-*27-!&=%!$&2$,=-#&2-;!! II.. ೏ ೖ . METHODOLOGY. మ. .G1!!!!!!!! ! ! ! >+*%*! !#-!7+*!3#-7(2$*! 5%&4!2&3*!i 7&!2&3*! j!(23! "!#-! 7+*! -$(,*! 5($7&%! 7(?*2! (-! O'CJ! :*%$*27! &5! 7+*! 4(Y#4=4! 3#-7(2$*!#2!7+*!&%#6#2(,!>&%?;!/57*%!(2(,9M#26!7+*!+#-7&6%(4-! &5!3#-7(2$*-!5&%!-&4*!:&#27-!#7!8*$&4*-!$,*(%!7+(7!owh!2**3-! 7&!6#)*!4&%*!>*#6+7!7&!7+*!$,&-*%!:&#27-!7+(2!7+*!:&#27-!7+(7! (%*! 5(%! (>(9;! <+#-! %*K=#%*-! (! 4&3#5#*3! (--&$#(7#&2! 5=2$7#&2! >#7+!(3(:7#)*!σ 5&%!*($+!2&3*;!@(4:,*!+#-7&6%(4-!-+&>#26! 7+*!3#-7(2$*-!5%&4!(!:&#27!7&!(,,!&7+*%!:&#27-!(%*!3*:#$7*3!#2! 7+*!5#6=%*!C;!! ! N2! &%3*%! 7&! 6*7! 8*77*%! $,=-7*%#26! 5&%! F3! :&#27$,&=3A! (2! =:3(7*3! >*#67*2#26! 5=27#&2! owph! #-! =-*3! >+#$+! $(2! *4:+(-#M*! $,&-*%! :&#27-! 4&%*! 7+(2! &2*-! 7+(7! (%*! 5(%! (>(9;!! <+#-! #4:%&)*-! 7+*! *55*$7! &5! 4#2#4#M(7#&2! #2! 7+*! b$=7! 7*$+2#K=*;!<+*!2*>!>*#6+7#26!5=2$7#&2!>#7+!4*3#(2!µ 7(?*2! (-!7+*!$*27*%!&5!6%()#79!&5!*($+!2&3* #-!6#)*2!#2!7+*!.O1;! ! ഑. N2! 7+#-! -*$7#&2A! 7+*! 4*7+&3&,&69! =-*3! 5&%! *Y7%($7#26! 7+*! :,(2(%! -=%5($*-! 5%&4! 7+*! *2)#%&24*27! #-! 3*-$%#8*3;! _#%-7! 7+*%*! #-! (! 8%#*5! 3*-$%#:7#&2! &5! bc=7! (23! 7+*2! 7+*! #4:%&)*3! >*#6+7#26!5=2$7#&2!#-!:%*-*27*3!7+(7!#-!=-*3!#2!7+*!-7=39;!<+*! (,6&%#7+4!#-!6#)*2!#2!7+*!,(7*%!:(%7!&5!7+*!-*$7#&2;! ! /;Normalized Cuts <+*! -*64*27(7#&2! &5! (! :&#27! $,&=3! $(2! 8*! 4&3*,*3! (-! (! 6%(:+! :(%7#7#&2#26! :%&8,*4;! U($+! :&#27! #2! FQ! -:($*! #-! 4&3*,*3! (-! (! 2&3*! Vi! (23! (2! *36*! Eij! #-! 5&%4*3! 89! $&22*$7#26! 7>&! 2&3*-! #2! (! >*#6+7*3! =23#%*$7*3! 6%(:+! g.0AU1;! <+*! >*#6+7! 5&%! *($+! *36*! #-! 7+*! 5=2$7#&2! &5! 7+*! 3#-7(2$*! 5%&4! &2*! :&#27! 7&! 7+*! &7+*%! :&#27! #2! (! :(#%! >#7+! -4(,,!3#-7(2$*!%*-=,7#26!#2!,(%6*%!>*#6+7-;!<+#-!%*:%*-*27-!(! 5=2$7#&2!&5!-#4#,(%#79!8*7>**2!7+*!2&3*-d:&#27-;!^*!>(27!7&! -*64*27!7+*!:&#27!$,&=3!#27&!3#-X&#27!-*7!&5!:&#27-!&%!$,=-7*%-! V1, V2, V3,…,Vm! -=$+! 7+(7! 7+*! -#4#,(%#79! &5! 2&3*-! #2! Vi! #-! 4(Y#4#M*3! (23! -#4#,(%#79! ($%&--! 7+*! 2&3*-! &5! Vj! #-! 4#2#4#M*3;! /$$&%3#26! 7&! 7+*! bc! .b&%4(,#M*3! c=71! (,6&%#7+4A! 7+*! &:7#4(,! 8#:(%7#7#&2! &5! (! 6%(:+! #27&! 7>&! -=8' 6%&=:-!/!(23!H!#-!&87(#2*3!89!4#2#4#M#26!7+*!b$=7!)(,=*!(-! 5&,,&>-V! ! ! !.C1!!!! , . ,. ,

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(55*$7!,(7*%!:%&$*--#26;!N2!&%3*%!7&!%*4&)*!7+*-*!:&#27-A!(! ,&$(,! )(%#(2$*! 8(-*3! :%=2#26! 4*7+&3! #-! #4:,#*3;! U($+! :&#27! #-! $,(--#5#*3! (-! 3(7(! &%! 2&#-*! 8(-*3! &2! #7-! -:%*(3! 5%&4!7+*!o?h!2*(%*-7!2*#6+8&%-;!<+*!%*-=,7!&5!7+#-!:%=2#26! 4*7+&3!#-!-+&>2!#2!7+*!5#6=%*!O!.*1;! !. Flight Control. Navigation Control. Position Sensors. ."#$%&$&27%&,,*% dN"j1!. ."#$%&$&27%&,,*%1!. .g\@d"(62*7& 4*7*%1!. !! _#6=%*! EV! /%$+#7*$7=%*! &5! 7+*! "/0! :,(75&%4! >#7+! -*2-&%! #27*6%(7#&2!(23!3*$#-#&2!4(?#26!,(9*%-;!. ! ! <+*!%*($7#)*!$&27%&,!,(9*%!#-!(!\NQ!$&27%&,,*%!>+#$+!#-! %*-:&2-#8,*! 5&%! 7+*! ,&>! ,*)*,! 3*$#-#&2! 4(?#26! 5&%! 7+*! (8-&,=7*! &8-7($,*! ()&#3(2$*;! N7! (,-&! +(-! (! +#6+*%! :%#&%#79! &)*%! :*%$*:7=(,! $&27%&,! ,(9*%;! <+*! (=7&! :#,&7! $&44(23-! (%*!6*2*%(7*3!(-!7+*!%*-=,7!&5!)#-=(,!(,6&%#7+4!(23!(%*!-*27! 7&!7+*!%*($7#)*!,(9*%!>+#$+!4(?*-!3*$#-#&2!&5!5&%>(%3#26!. 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(6) !. Proceedings of the International Micro Air Vehicles conference 2011 summer edition. 7+*-*!$&44(23-!7&!7+*!5,#6+7! $&27%&,,*%!89!&8-*%)#26!7+*! -#62(,-!%*$*#)*3!5%&4!7+*!3#-7(2$*!-*2-&%-;!N2!$(-*!&5!2*(%! &8-7($,*A! %*($7#)*! $&27%&,! 6*2*%(7*-! #7-! &>2! :#,&7! $&44(23-!7&!?**:!7+*!)*+#$,*!(7!(!-(5*!4(%6#2;! IV. EXPERIMENTAL RESULTS AND ANALYSIS ! <+*!:%&:&-*3!(,6&%#7+4!#-!(::,#*3!&2!(!-*7!&5!:&#27!$,&=3! 3(7(!&87(#2*3!5%&4!(!FQ!\%#4*@*2-*!$(4*%(!(23!7+*!%*-=,7-! (%*! )#-=(,#M*3;! <+*! %*-=,7-! &5! $,=-7*%#26! >#7+! &%#6#2(,! (23! #4:%&)*3! >*#6+#26! 5=2$7#&2-! (%*! 3*:#$7*3! #2! 7+*! 5#6=%*! F! >#7+! *($+! $,=-7*%! #2! 3#-7#2$7! $&,&%;! <+*-*! $,=-7*%-! (%*! 7+*2! 7*-7*3!5&%!7+*#%!:,(2(%#79!2(7=%*!=-#26!7+*!4*7+&3!*Y:,(#2*3! #2!7+*!-*$7#&2!NN!(23!7+*!%*-=,7-!$(2!8*!)#-=(,#M*3!#2!7+*!,(-7! %&>!&5!7+*!5#6=%*!F;!<+*!$,=-7*%#26!%*-=,7!+(-!8**2!#4:%&)*3! 89!7+*!=-*!&5!Wp >+#$+!*2+(2$*-!7+*!$=7-!#2!7+*!6%(:+!&5!7+*! 2&3*-;! /3(:7#)#79! #2! 7+*! σ $(,$=,(7#&2! +*,:-! 7&! 8*77*%! %*:%*-*27! 7+*! ,&$(,#79! &5! *($+! 2&3*! (23! +*2$*! *2-=%*-! 7+*! %*,(7#)*!$,=-7*%!-:%*(3;!<+#-!(,-&!4(?*-!7+*!4*7+&3!#2)(%#(27! 7&!$+(26*-!#2!3(7(!3=*!7&!)#*>!:&#27!$+(26*!&%!-*2-&%!2&#-*A! (,7+&=6+!#7!+(-!8**2!&8-*%)*3!7+(7!7+*!(--&$#(7#&2!5=2$7#&2!#-! 2&7!#2)(%#(27!($%&--!3#55*%*27!-$(,*-!&5!7+*!3(7(;!N2!7+#-!-7=39A! *($+! :&#27! $,&=3! #-! 3&>2! -(4:,*3! 7&! 7+*! -(4*! 3*6%**! (23! +*2$*!*)*%9!:&#27!$,&=3!+(-!7+*!-(4*!3(7(!-#M*;!! ! !!N2! &%3*%! 7&! )(,#3(7*! 7+*! (,6&%#7+4A! (! -#4=,(7#&2! 4&3*,! $&27(#2#26! (! -*7! &5! :,(2*-! (23! 2&#-*! +(-! 8**2! $&2-7%=$7*3;! <+*!:,(2(%!:&#27!$,&=3!4&3*,!3(7(!#-!#2X*$7*3!>#7+!g(=--#(2! 2&#-*! (23! -&4*! %(23&4! -7%=$7=%*-! 7&! 4#4#$! 7+*! 2(7=%(,! -$*2*!(-!-+&>2!#2!5#6=%*!G;!<+#-!:&#27!$,&=3!4&3*,!#-!=-*3! 7&! 6*2*%(7*! )(%#&=-! #23&&%! -$*2*-! $&27(#2#26! 3#55*%*27! 2=48*%-!&5!:,(2*-!(23!2&#-9!&8X*$7-A!(23!7+*!:*%5&%4(2$*!&5! 7+*! (,6&%#7+4! #-! 4*(-=%*3;! <+*! -$*2*-! $%*(7*3! 5%&4! 7+*! 4&3*,! (,&26! >#7+! 7+*#%! %*-:*$7#)*! %*-=,7-! $(2! 8*! )#-=(,#M*3! #2!7+*!5#6=%*!O;! ! _&%! *($+! Pj j=1,2,…,m! $,=-7*%! 7+(7! %*-=,7-! 5%&4! 7+*! (::,#$(7#&2!&5!7+*!(,6&%#7+4A!(2!*%%&%!%(7*!εX!#-!4*(-=%*3!7+(7! %*5,*$7-! 7+*! $,=-7*%#26! :*%5&%4(2$*! &5! 7+*! :%&:&-*3! 4*7+&3! &)*%! 4=,7#:,*! -$*2*-;! U($+! $,=-7*%! &5! 7+*! 6%&=23! 7%=7+! #-! (--#62*3! 7&! (! $,(--! 7+(7! #-! 4&-7! 5%*K=*27! #2! 7+*! %*-=,7(27! $,=-7*%;! <+*2! 7+*! *%%&%! %(7*! &5! 7+#-! (--#624*27! #-! 4*(-=%*3! 89!$&=27#26!7+*!2=48*%!&5!$&%%*$7,9!(--#62*3!:&#27-V! !. !. !. !. !. !. !. !. ! _#6=%*!FV!_#%-7![&>V!L#6+!%*-&,=7#&2!:&#27!$,&=3!&5!&%#6#2(,!-$*2*-;! @*$&23![&>V!$,=-7*%#26!!=-#26!oW’ <+#%3![&>: c,=-7*%#26!=-#26!oWp’ (23!_&=%7+![&>V!<+*!$,=-7*%-!5%&4!7+*!7+#%3!%&>!(%*!7+*2!7*-7*3!5&%!7+*#%! :,(2(%#79!2(7=%*!7&!&87(#2!:,(2(%!$,=-7*%-!(-!4*27#&2*3!#2!-*$7#&2!NNc;!. !. .R1!!!!!!1Ω, 3 1 5 ∑& max% 8ω& ∩ c% 8< ! $. ! >+*%* Ω => , >' , >( , … > @ #-! 7+*! -*7! &5! $,=-7*%-! (23! 3 = , ' , ( , … @ #-!7+*!-*7!&5!$,(--*-;!! ! <+*! *%%&%! 5&%! *)*%9! -$*2*! #-! $(,$=,(7*3! CJ! 7#4*-! >#7+! 3#55*%*27!-:%*(3!&5!7+*!2&#-*!*($+!7#4*!(23!7+*!()*%(6*!*%%&%! 5&%!*($+!-$*2*!#-!7(?*2;!<+*!*)(,=(7#&2!%*-=,7-!&5!*($+!-$*2*! >#7+! 3#55*%*27! >*#6+7#26! 5=2$7#&2-! (%*! 3*:#$7*3! #2! 7+*! 7(8,*! C;!<+#-!%*5,*$7-!7+*!()*%(6*!*%%&%!%(7*!&)*%!4=,7#:,*!%=2-!&5! 7+*!-(4*!-$*2*!>#7+!)(%9#26!2&#-*!.σ1!3*2-#79!&5!7+*!-$*2*;! <+*!*55*$7!&5!-#64(!&2!*%%&%!%(7*!5&%!*($+!-$*2*!#-!3*:#$7*3! #2!7+*!/::*23#Y!/C;!!! ! ! !. ! _#6=%*!GV!/!-#4=,(7#&2!4&3*,!&5!7+*!*2)#%&24*27;!. 51.

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(9) !. Proceedings of the International Micro Air Vehicles conference 2011 summer edition. 2004 43rd IEEE Conference on Decision and Control (CDC), 14-17 Dec. 2004A!\#-$(7(>(9A!baA!j@/V!NUUUA! EJJGA!::;!CPOO'PE;! BTD! !g;'\;";!L*63*A!c(26!f*A!sUY7%($7#&2!&5!:,(2(%! 5*(7=%*-!5%&4!@>#--%(26*%!@['FJJJ!%(26*!#4(6*-!89!(! $,=-7*%#26!4*7+&3!=-#26!2&%4(,#M*3!$=7-At!2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), 11-15 Oct. 2009A! \#-$(7(>(9A!baA!j@/V!NUUUA!EJJZA!::;!GJFG'Z;! BZD! !a;!@+#!(23!a;!"(,#?A!sb&%4(,#M*3!$=7-!(23!#4(6*! -*64*27(7#&2At!IEEE Transactions on Pattern Analysis and Machine IntelligenceA!)&,;!EEA!EJJJA!::;!TTT'ZJO;! BCJD!!c;!c#6,(!(23!/;!/;!/,(7(2A!sI8X*$7!-*64*27(7#&2!#2! 4=,7#')#*>!)#3*&!)#(!$&,&%A!3*:7+!(23!4&7#&2!$=*-At!#2! 2008 IEEE International Conference on Image Processing, ICIP 2008, October 12, 2008 - October 15, 2008A!@(2!Q#*6&A!c/A!j2#7*3!-7(7*-A!EJJTA!::;!EREG' ERER;! BCCD!!a;!g;![&6*%-!(23!L;!N;!c+%#-7*2-*2A!sb&%4(,#M*3!6%(:+! $=7-!5&%!)#-=(,!@]/"At!#2!2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), 11-15 Oct. 2009A!\#-$(7(>(9A!baA!j@/A!EJJZA! ::;!ZCT'EF;! ! !. <+*! %*-=,7-! #23#$(7*! 7+*! 7*23*2$9! &5! 7+*! (,6&%#7+4! 5&%! -=$$*--5=,,9! 5#23#26! :,(2*-! #2! 7+*! *2)#%&24*27! *)*2! #2! 7+*! :%*-*2$*!&5!2&#-*!(23!&7+*%!2&2':,(2(%!&8X*$7-;!/-!#7!$(2!8*! &8-*%)*3! #2! 7+*! 5#6=%*! R! >+#$+! 3*:#$7-! 7+*! :*%5&%4(2$*! &5! 7+*! :%&:&-*3! 4*7+&3! &2! 7+*! -#4=,(7*3! 3(7(! &)*%! 4=,7#:,*! %=2-! &5! 7+*! 5#)*! -$*2*-A! 7+(7! 5&%! 4&-7! &5! 7+*! 3(7(! #2-7(2$*-A! 7+*! :*%5&%4(2$*! ._'-$&%*1! &5! 7+*! 4*7+&3! ! %*4(#2-! (8&)*! 2#2*79!:*%$*27;!<+*!:%&:&-*3!:,(2*!*Y7%($7#&2!4*7+&3!#-!(,-&! (8,*!7&!$,(--#59!7+*!-$*2*-!$&2-#-7#26!&5!:,(2(%!-=%5($*-!>#7+! 6&&3!:%*$#-#&2!%(7*A!(-!$(2!8*!&8-*%)*3!#2!7+*!5#6=%*!R;! ! V.. CONCLUSIONS AND FUTURE WORK. N2! 7+#-! -7=39! >*! :%&:&-*3! (! 2&)*,! :,(2*! *Y7%($7#&2! 4*7+&3!.\]/@U1!7+(7!$(2!8*!=-*3!7&!,&$(,#M*!(!"/0!#2!(2! #23&&%! *2)#%&24*27;! <+*! %*-=,7-! -=66*-7! 7+(7! 7+#-! 4*7+&3! :*%5&%4-!>*,,!*)*2!#2!7+*!:%*-*2$*!&5!2&#-*!(23!2&2':,(2(%! &8X*$7-A!(23!7+(7!#7!-+&=,3!8*!*55*$7#)*!5&%!#23&&%!2()#6(7#&2! &5! (! "/0;! <+*! :*%5&%4(2$*! &5! 7+*! (,6&%#7+4! #-! 3*:*23*27! &2! 7+*! -=$$*--! &5! 7+*! #23#)#3=(,! -7*:-A! >+#$+! 4*(2-! 7+(7! >%&26,9!-*64*27*3!3(7(!$(2!,*(3!7&!8(3!:,(2*-;!<+#-!$(2!8*! (! :&7*27#(,! :%&8,*4! 7+(7! $&=,3! 8*! &)*%$&4*! 89! =-#26! (3(:7#)*! $,=-7*%#26! #2! bc=7;! Q=*! 7&! 7#4*! $&2-7%(#27-A! (! -#4:,*!#7*%(7#)*!$,=-7*%!2=48*%!*-7#4(7#&2!4*7+&3!>(-!=-*3S! 7+#-!>#,,!8*!#4:%&)*3!#2!5=7=%*!>&%?;!! !<+*!4*7+&3!#-!#4:,*4*27*3!#2!"/<]/H!(23!#-!2&7!%*(,! 7#4*S! 7+*! 4*7+&3! >#,,! 8*! %*'#4:,*4*27*3! #2! c! (23! 5&%! 7+*! "/0!:,(75&%4!(-!:(%7!&5!7+*!5=7=%*!>&%?;!! [U_U[UbcU@! ! BCD! !Q;!`%(6#$!(23!";!0#2$M*A!s0#-#&2!5&%![&8&7#$-At! Foundations and Trends in RoboticsA!)&,;!CA!EJCJA!::;! C'RT;! BED! !a;!`#4A!];I;!]**A!U;!b*77,*7&2A!(23!@;!@=??(%#*+A! sQ*$*27%(,#M*3!(::%&($+!7&!=24(22*3!(*%#(,!)*+#$,*! 2()#6(7#&2V!^#7+&=7!7+*!=-*!&5!7+*!6,&8(,!:&-#7#&2#26! -9-7*4!(23!:%*,&(3*3!4(:-At!\%&5*--#&2(,!U26#2**%#26! \=8,#-+#26!]73;A!EJJGA!::;!FZZ'GCP;! BFD! !";!/$+7*,#?A!/;!H($+%($+A![;!L*A!@;!\%*27#$*A!(23!b;! [&9A!s@7*%*&!)#-#&2!(23!,(-*%!&3&4*7%9!5&%!(=7&2&4&=-! +*,#$&:7*%-!#2!g\@'3*2#*3!#23&&%!*2)#%&24*27-At! Unmanned Systems Technology XI, 14-17 April 2009A! j@/V!@\NU!'!<+*!N27*%2(7#&2(,!@&$#*79!5&%!I:7#$(,! U26#2**%#26A!EJJZA!:;!RFFECZ!.CJ!::;1;! BGD! !N;!Q%9(2&)-?#!(23!^;!"&%%#-A!a#M+&26!i#(&A!s"=,7#' )&,=4*!&$$=:(2$9!6%#3-V!/2!*55#$#*27!:%&8(8#,#-7#$!FQ! 4(::#26!4&3*,!5&%!4#$%&!(*%#(,!)*+#$,*-At!2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), 18-22 Oct. 2010A! \#-$(7(>(9A!baA!j@/V!NUUUA!EJCJA!::;!COOF'Z;! BOD! !_;!`*23&=,A!v;!f=A!(23!`;!b&2(4#A!sg=#3(2$*!(23! 2&2,#2*(%!$&27%&,!-9-7*4!5&%!(=7&2&4&=-!5,#6+7!&5! 4#2#%&7&%$%(57!=24(22*3!(*%#(,!)*+#$,*-At!Journal of Field RoboticsA!)&,;!ERA!EJCJA!::;!FCC'FFG;! BPD! !/;!H*9*,*%A!a;'c;!v=55*%*9A!(23!Q;!_,&%*(2&A!s0#-#&2' 8(-*3!$&27%&,!&5!2*(%'&8-7($,*!5,#6+7At!0(2! g&3*>#X$?-7%((7!FJA!Q&%3%*$+7A!FFCC!gvA!b*7+*%,(23-V! @:%#26*%!b*7+*%,(23-A!EJJZA!::;!EJC'ECZ;! BRD! !<;!`(2(3*A!I;!/4#3#A!(23!q;!`*A!s[*(,'7#4*!(23!FQ! )#-#&2!5&%!(=7&2&4&=-!-4(,,!(23!4#$%&!(#%!)*+#$,*-At! ! 53.

(10) !. Proceedings of the International Micro Air Vehicles conference 2011 summer edition. APPENDIX. A1: A comparison of error rates of clustering performance using weight functions (W,Wp) for five scenes while each scene has been repeated ten times with varying noise in the simulation model.. 54.

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