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Towards large-scale visual mapping and localization
(2011)Springer Tracts in Advanced Robotics ~ Robotics ResearchConference Paper -
MAV visual SLAM with plane constraint
(2011)2011 IEEE International Conference on Robotics and AutomationBundle adjustment (BA) which produces highly accurate results for visual Simultaneous Localization and Mapping (SLAM) could not be used for Micro-Aerial Vehicles (MAVs) with limited processing power because of its O(N 3 ) complexity. We observed that a consistent ground plane often exists for MAVs flying in both the indoor and outdoor urban environments. Therefore, in this paper, we propose a visual SLAM algorithm that make use of the ...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 -
RS-SLAM: RANSAC sampling for visual FastSLAM
(2011)2011 IEEE/RSJ International Conference on Intelligent Robots and SystemsIn this paper, we present our RS-SLAM algorithm for monocular camera where the proposal distribution is derived from the 5-point RANSAC algorithm and image feature measurement uncertainties instead of using the easily violated constant velocity model. We propose to do another RANSAC sampling within all the inliers that have the best RANSAC score to check for inlier misclassifications in the original correspondences and use all the hypotheses ...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