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Minimal Solutions for Pose Estimation of a Multi-Camera System
(2016)Springer Tracts in Advanced Robotics ~ Robotics research : the 16th International Symposium ISRRConference Paper -
Relative Pose Estimation for a Multi-Camera System with Known Vertical Direction
(2014)Proceedings of the 2014 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)Conference Paper -
Structureless pose-graph loop-closure with a multi-camera system on a self-driving car
(2013)2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 3-7 November 2013, Tokyo, JapanConference Paper -
Robust pose-graph loop-closures with expectation-maximization
(2013)2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 3-7 November 2013, Tokyo, JapanConference Paper -
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 -
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