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dc.contributor.author
Karrer, Marco
dc.contributor.author
Chli, Margarita
dc.date.accessioned
2018-11-22T09:05:55Z
dc.date.available
2018-11-22T09:05:55Z
dc.date.issued
2018
dc.identifier.isbn
978-1-5386-3081-5
en_US
dc.identifier.isbn
978-1-5386-3080-8
en_US
dc.identifier.isbn
978-1-5386-3082-2
en_US
dc.identifier.other
10.1109/ICRA.2018.8461213
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/305549
dc.identifier.doi
10.3929/ethz-b-000248373
dc.description.abstract
Motivated by the need for globally consistent tracking and mapping before autonomous robot navigation becomes realistically feasible, this paper presents a novel back-end to monocular-inertial odometry. As some of the most challenging platforms for vision-based perception, we evaluate the performance of our system using Unmanned Aerial Vehicles (UAVs). Our experimental validation demonstrates that the proposed approach achieves drift correction and metric scale estimation from a single UAV on benchmarking datasets. Furthermore, the generality of our approach is demonstrated to achieve globally consistent maps built in a collaborative manner from two UAVs, each equipped with a monocular-inertial sensor suite, showing the possible gains opened by collaboration amongst robots to perform SLAMVideo.
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
Towards Globally Consistent Visual-Inertial Collaborative SLAM
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2018-09-13
ethz.book.title
Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA)
en_US
ethz.pages.start
3685
en_US
ethz.pages.end
3692
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.identifier.wos
ethz.identifier.scopus
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
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.identifier.url
https://youtu.be/wbX36HBu2Eg
ethz.grant.agreementno
644128
ethz.grant.fundername
SBFI
ethz.grant.funderDoi
10.13039/501100007352
ethz.grant.program
H2020
ethz.date.deposited
2018-03-09T11:30:59Z
ethz.source
FORM
ethz.source
WOS
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2018-11-22T09:06:07Z
ethz.rosetta.lastUpdated
2019-02-03T08:57:18Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/248373
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/302078
ethz.COinS
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