FLYBO: A Unified Benchmark Environment for Autonomous Flying Robots

Anthony Brunel, Amine Bourki, Olivier Strauss, Cedric Demonceaux
2021 2021 International Conference on 3D Vision (3DV)  
Figure 1: An MAV equipped with odometry-and active depth sensors autonomously explores a complex synthetic area from FLYBO (a) while gradually mapping the scene throughout different exploration stages and planning trajectories online (b-d). Simultaneously, the perceived surfaces are also reconstructed online (close-up views). FLYBO provides datasets, references and a framework to benchmark such systems w.r.t their volumetric exploration and online surface reconstruction capabilities.
doi:10.1109/3dv53792.2021.00149 fatcat:zyuo4zp3vndq5etzahnkb5n454