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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 -
3D model search and pose estimation from single images using VIP features
(2008)IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, 2008. CVPR Workshops 2008Conference Paper -
Combining Monocular and Stereo Cues for Mobile Robot Localization using Visual Words
(2010)Proceedings 2010 20th International Conference on Pattern RecognitionConference Paper -
A minimal case solution to the calibrated relative pose problem for the case of two known orientation angles
(2010)Lecture Notes in Computer Science ~ Computer vision - ECCV 2010Conference Paper -
A Constricted Bundle Adjustment Parameterization for Relative Scale Estimation in Visual Odometry
(2010)IEEE International Conference on Robotics and Automation (ICRA), 2010Conference 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 -
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