Quadrotor Autonomous Flight and Obstacle Avoidance with Kinect Sensor

This work is part of the STARMAC Project in the Hybrid Systems Lab at UC Berkeley (EECS department). http://hybrid.eecs.berkeley.edu/

Researcher: Patrick Bouffard
PI: Prof. Claire Tomlin

Our lab’s Ascending Technologies [1] Pelican quadrotor, flying autonomously and avoiding obstacles.

The attached Microsoft Kinect [2] delivers a point cloud to the onboard computer via the ROS [3] kinect driver, which uses the OpenKinect/Freenect [4] project’s driver for hardware access. A sample consensus algorithm [5] fits a planar model to the points on the floor, and this planar model is fed into the controller as the sensed altitude. All processing is done on the on-board 1.6 GHz Intel Atom based computer, running Linux (Ubuntu 10.04).

A VICON [6] motion capture system is used to provide the other necessary degrees of freedom (lateral and yaw) and acts as a safety backup to the Kinect altitude–in case of a dropout in the altitude reading from the Kinect data, the VICON based reading is used instead. In this video however, the safety backup was not needed.

[1] http://www.asctec.de
[2] http://www.microsoft.com
[3] http://www.ros.org/wiki/kinect
[4] http://openkinect.org
[5] http://www.ros.org/wiki/pcl
[6] http://www.vicon.com

Duration : 0:2:23





25 responses to “Quadrotor Autonomous Flight and Obstacle Avoidance with Kinect Sensor”

  1. ahhhhhhhhhhdip Avatar

    they should name …
    they should name the project sky net just to fuck? with people 😀

  2. chandlerblaze Avatar

    This is how it all …
    This is how it all starts robots will? rule the world

  3. boonu Avatar

    SKYNET is here?
    SKYNET is here?

  4. BigGunz357 Avatar

    @abram730 Fighter …
    @abram730 Fighter bomber, is that some sort of new aircraft? I’m unaware of or did you just pull that out of your ass. (Rhetorical question)

  5. id493337 Avatar

    I doubt …

    I doubt this machine? is worth $350k, it probably only cost a couple of thousands at most. and my guess would be around 700 dollars, well at least it would be if it was homemade.

  6. NewAgeDirector Avatar

    Great video keep …
    Great video keep up? the good work.

  7. NoamTube Avatar

    Anal …

    Anal sex from a penguin. I like that one. Perhaps you are just dumb with no real understanding of my point. Here, let me show you how you quote someone. “Next step: duck tape a Glock? to that thing? and see how well it pulls of headshots.” – Cracked. See? Now you try.

  8. YOUSUCK242 Avatar

    @NoamTube who the …
    @NoamTube who the is james rolfe?? And if you interpret things as stealing when I am quoting that is your problem, not mine. I can write whatever I want and if I wanna share a line from Cracked with the YouTube community I am allowed to do that. And if you don’t like it you should go back to receiving anal sex from a penguin.

  9. Silverhairedmage Avatar

    Hello Skynet,? my …
    Hello Skynet,? my killer kinnect machine keeps targeting the neighbors cat

  10. NoamTube Avatar


    Ye, …

    Ye, it’s not really quoting unless you show that. Sounds like now you’re stealing from the Angry Video Game Nerd, James Rolfe. Do you even have your own personality? Or do you just copy others all the time.

    You’d make a good? parrot.

  11. abram730 Avatar

    @QuestH123 A human …
    @QuestH123 A human would be in the loop for distinction. Possible threats would be brought to the attention of an operator, other operators would search the data in 3D. They are just ROV’s with autonomous functions at this point. A mobile super computer with a satellite link up would handle the magic($1,000 per? teraflop soon to be $500).

    With time more autonomous functionality can be added. Complete situational awareness for the cost of 1 f-22.

  12. QuestH123 Avatar

    @abram730? Because …
    @abram730? Because distinction would cost alot to have the robots know who the is who.

  13. Navalunaj Avatar

    Lets put a laser? …
    Lets put a laser? on its head! 😀

  14. YOUSUCK242 Avatar

    @NoamTube Oh boohoo …
    @NoamTube Oh boohoo I quoted from a comedy website! This is the greatest sin ever and I will get raped by a giraffe with my head stuck in the of a squirrel in hell!

    Don’t care what you think. I? live in a country where I can say whatever I want, be it quoting or not. Now go suck a pandas dick.

  15. NoamTube Avatar


    just …

    just giving credit where it’s due you no? talent shitfuck.

  16. BigBass992 Avatar

    next stop: MANHACKS …
    next stop: MANHACKS!!?

  17. abram730 Avatar

    @QuestH123 Why do …
    @QuestH123 Why do you think there would be no distinction? That is silly.

    The f22 cost $361 million per aircraft, I rounded it down to 350 million.?

  18. Otsuko Avatar

    @halmousa91 A? HIND …
    @halmousa91 A? HIND D?!?

  19. halmousa91 Avatar


  20. m3talmast3er Avatar


  21. YouGotPwnd Avatar

    anybody else think? …
    anybody else think? it’s adorable like a puppy? the way it stops and stares in amazing wonderment

  22. YOUSUCK242 Avatar

    @NoamTube nice? job …
    @NoamTube nice? job at giving a fuck. Seriously you must either be a total douchebag or somebody with no life if you actually care whether I quote cracked or not.

  23. QuestH123 Avatar

    @abram730 Not …
    @abram730 Not exactly. Your saying 350,000 little flying things would get something done? The robot in this video could do almost nothing. If we up the budget to 10,000$ per robot and have 35,000 your idea is still silly. The robots would just fly around (if we attached weapons) killing people without? distinction of whether they are enemies or not. As an amazing Fighter Bomber could blow up lots of shit. Also where do you get the idea that a fighter bomber costs $350,000,000?

  24. danielinsporto Avatar

    @abram730 goddamnit …
    @abram730 goddamnit.. thinking like that is gonna transform? the Matrix from a sci-fi trilogy to a prophecy

  25. CrestoA Avatar

    Step 2, have it …
    Step 2, have it create it’s own waypoints through? space around obstacles.

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