We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global trajectory generation, especially when using narrow field of view sensors in very cluttered environments. In addition, details about other necessary parts of the system and special considerations for applications in real-world scenarios are presented. We focus our experiments on evaluating global planning, path smoothing, and local planning methods on real maps made on MAVs in realistic search and rescue and industrial inspection scenarios. We also perform thousands of simulations in cluttered synthetic environments, and finally validate the complete system in real-world experiments.

中文翻译：

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用于在杂乱环境中进行基于视觉的微型飞行器测绘、规划和飞行的开源系统

我们提出了一个开源系统，用于基于视觉传感的微型飞行器自主导航。我们的系统专注于密集映射、安全局部规划和全局轨迹生成，尤其是在非常混乱的环境中使用窄视野传感器时。此外，还介绍了有关系统其他必要部分的详细信息以及在实际场景中应用的特殊注意事项。我们的实验重点是评估在真实搜索和救援和工业检查场景中使用 MAV 制作的真实地图上的全局规划、路径平滑和局部规划方法。我们还在杂乱的合成环境中执行了数千次模拟，并最终在现实世界的实验中验证了整个系统。