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Toward automated driving in cities using close-to-market sensors
(2013)Proceedings of 2013 IEEE Intelligent Vehicles Symposium (IV)Conference Paper -
Vision-Based Autonomous Mapping and Exploration Using a Quadrotor MAV
(2012)Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper -
SFly: Swarm of micro flying robots
(2012)2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)The SFly project is an EU-funded project, with the goal to create a swarm of autonomous vision controlled micro aerial vehicles. The mission in mind is that a swarm of MAV's autonomously maps out an unknown environment, computes optimal surveillance positions and places the MAV's there and then locates radio beacons in this environment. The scope of the work includes contributions on multiple different levels ranging from theoretical ...Conference Paper -
Autonomous obstacle avoidance and maneuvering on a vision-guided MAV using on-board processing
(2011)2011 IEEE International Conference on Robotics and Automation (ICRA)We present a novel stereo-based obstacle avoidance system on a vision-guided micro air vehicle (MAV) that is capable of fully autonomous maneuvers in unknown and dynamic environments. All algorithms run exclusively on the vehicle's on-board computer, and at high frequencies that allow the MAV to react quickly to obstacles appearing in its flight trajectory. Our MAV platform is a quadrotor aircraft equipped with an inertial measurement ...Conference Paper -
Real-Time photo-realistic 3D mapping for micro aerial vehicles
(2011)2011 IEEE/RSJ International Conference on Intelligent Robots and SystemsWe present a real-time photo-realistic 3D mapping framework for micro aerial vehicles (MAVs). RGBD images are generated from either stereo or structured light cameras, and fed into the processing pipeline. A visual odometry algorithm runs on-board the MAV. We improve the computational performance of the visual odometry by using the IMU readings to establish a 1-point RANSAC instead of using the standard 3-point RANSAC to estimate the ...Conference Paper