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dc.contributor.author
Karrer, Marco
dc.contributor.author
Agarwal, Mohit
dc.contributor.author
Kamel, Mina
dc.contributor.author
Siegwart, Roland
dc.contributor.author
Chli, Margarita
dc.date.accessioned
2018-06-05T08:45:36Z
dc.date.available
2018-03-09T11:40:36Z
dc.date.available
2018-03-09T12:28:37Z
dc.date.available
2018-06-05T08:45:36Z
dc.date.issued
2018-05
dc.identifier.uri
http://hdl.handle.net/20.500.11850/248381
dc.identifier.doi
10.3929/ethz-b-000248381
dc.description.abstract
Driven by the promise of leveraging the benefits of collaborative robot operation, this paper presents an approach to estimate the relative transformation between two small Unmanned Aerial Vehicles (UAVs), each equipped with a single camera and an inertial sensor, comprising the first step of any meaningful collaboration. Formation flying and collaborative object manipulation are some of the few tasks that the proposed work has direct applications on, while forming a variable-baseline stereo rig using two UAVs carrying a monocular camera each promises unprecedented effectiveness in collaborative scene estimation. Assuming an overlap in the UAVs' fields of view, in the proposed framework, each UAV runs monocular-inertial odometry onboard, while an Extended Kalman Filter fuses the UAVs' estimates and common image measurements to estimate the metrically scaled relative transformation between them, in real-time. Decoupling the direction of the baseline between the cameras of the two UAVs from its magnitude, this work enables consistent and robust estimation of the uncertainty of the relative pose estimation. Our evaluation on both on simulated data and benchmarking datasets consisting of real aerial data, reveals the power of the proposed methodology in a variety of scenarios.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.title
Collaborative 6DoF Relative Pose Estimation for two UAVs with Overlapping Fields of View
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
ethz.size
7 p.
en_US
ethz.version.deposit
submittedVersion
en_US
ethz.event
International Conference on Robotics and Automation (ICRA 2018)
en_US
ethz.event.location
Brisbane, Australia
en_US
ethz.event.date
May 21-25, 2018
en_US
ethz.grant
Collaborative Aerial Robotic Workers
en_US
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
unpublished
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09559 - Chli, Margarita (SNF-Professur) / Chli, Margarita (SNF-Professur)
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09559 - Chli, Margarita (SNF-Professur) / Chli, Margarita (SNF-Professur)
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.identifier.url
https://youtu.be/Amkk8X826oI
ethz.grant.agreementno
644128
ethz.grant.fundername
SBFI
ethz.grant.funderDoi
10.13039/501100007352
ethz.grant.program
H2020
ethz.date.deposited
2018-03-09T11:40:41Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2018-06-05T08:45:44Z
ethz.rosetta.lastUpdated
2019-02-03T02:01:40Z
ethz.rosetta.versionExported
true
ethz.COinS
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