This work is part of the STARMAC Project in the Hybrid Systems Lab at UC Berkeley (EECS department). http://hybrid.eecs.berkeley.edu/
Our lab's Ascending Technologies  Pelican quadrotor, flying autonomously and avoiding obstacles.
The attached Microsoft Kinect  delivers a point cloud to the onboard computer via the ROS  kinect driver, which uses the OpenKinect/Freenect  project's driver for hardware access. A sample consensus algorithm  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).