Filters








171 Hits in 3.7 sec

Collaborative monocular SLAM with multiple Micro Aerial Vehicles

Christian Forster, Simon Lynen, Laurent Kneip, Davide Scaramuzza
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper presents a framework for collaborative localization and mapping with multiple Micro Aerial Vehicles (MAVs) in unknown environments.  ...  To the best of our knowledge, this is the first work on real-time collaborative monocular SLAM, which has also been applied to MAVs.  ...  CONCLUSION AND FUTURE WORK We proposed a system (named CSfM) for collaborative monocular SLAM with multiple MAVs using a centralized approach.  ... 
doi:10.1109/iros.2013.6696923 dblp:conf/iros/ForsterLKS13 fatcat:gb6k2wyojjeaberzvzyjfbtcp4

Collaborative Monocular Visual SLAM for Multi-robot

Khandana Ali Khan & Shafaque Saira Malik
2022 Zenodo  
We worked on Simultaneous localization and mapping standard architecture with building the centralized global SLAM by the micro aerial vehicles such as Tello in our case.  ...  Collaborative SLAM is an amazing extension of single robot locations where multiple robots with monocular cameras work together in a dynamic environment to build one global map.  ...  [11] for a team of micro autonomous drone with forward -facing monocular-camera, the author showed and accessed a collaborative localization framework for the group using Microsoft air-sim software.  ... 
doi:10.5281/zenodo.6844404 fatcat:ghkv4qbvhffolanse3achejnra

Monocular Vision based Collaborative Localization for Micro Aerial Vehicle Swarms [article]

Sai Vemprala, Srikanth Saripalli
2018 arXiv   pre-print
In this paper, we present a vision based collaborative localization framework for groups of micro aerial vehicles (MAV).  ...  The vehicles are each assumed to be equipped with a forward-facing monocular camera, and to be capable of communicating with each other.  ...  CONCLUSION In this paper, we present a vision based collaborative localization framework aimed at micro aerial vehicles equipped with forward facing monocular cameras.  ... 
arXiv:1804.02510v1 fatcat:tzei63viizbglaq4i5l5ctrrzq

Summary Report On Live Demos And Videos With Results

Andrea Bisoffi
2017 Zenodo  
In this paper, we propose a novel, centralized architecture for collaborative monocular SLAM employing multiple small Unmanned Aerial Vehicles (UAVs) to act as agents.  ...  Abstract: We present an aerial robotic platform for remote tree cavity inspection, based on a hexacopter Micro-Aerial vehicle (MAV) equipped with a dexterous manipulator.  ...  Title: Robust Collision Avoidance for Multiple Micro Aerial Vehicles Using Nonlinear Model Predictive Control Type:Video Digital Object Identifier: https://doi.org/10.1109/IROS.2017.8202163 Authors: Kamel  ... 
doi:10.5281/zenodo.1063472 fatcat:yuqpv36aojhibkpocvqcrf6kbu

Collaborative Localization for Micro Aerial Vehicles [article]

Sai Vemprala, Srikanth Saripalli
2020 arXiv   pre-print
In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing.  ...  The vehicles are each assumed to be equipped with a forward-facing monocular camera, and to be capable of communicating with each other.  ...  Acknowledgements The authors would like to thank Keith Sponsler and Subodh Mishra for their invaluable help with flight testing and data collection.  ... 
arXiv:1905.02648v2 fatcat:tpwy6cno4jebxffytqzk72hfoe

Collaborative Localization for Micro Aerial Vehicles

Sai H. Vemprala, Srikanth Saripalli
2021 IEEE Access  
We present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision-based sensing.  ...  The vehicles are each assumed to be equipped with a monocular camera, and to be capable of communicating with each other.  ...  CONCLUSIONS In this paper, we present a collaborative localization framework aimed at vision-based micro aerial vehicles: particularly those equipped with monocular cameras.  ... 
doi:10.1109/access.2021.3074537 fatcat:p7awnrdnnbbmxix65sdnplnkcq

Survey on Computer Vision for UAVs: Current Developments and Trends

Christoforos Kanellakis, George Nikolakopoulos
2017 Journal of Intelligent and Robotic Systems  
During last decade the scientific research on Unmanned Aerial Vehicless (UAVs) increased spectacularly and led to the design of multiple types of aerial platforms.  ...  Additionally, throughout this article the concept of fusion multiple sensors is highlighted, while an overview on the challenges C. Kanellakis ( ) · G.  ...  Vertical Takeoff and Landing Vehicle SLAM Simultaneous Localization and Mapping PTAM Parallel Tracking and Mapping MAV Micro Aerial Vehicle  ... 
doi:10.1007/s10846-017-0483-z fatcat:2abqia3mlnedrlonxhlsjanffy

Air-ground localization and map augmentation using monocular dense reconstruction

Christian Forster, Matia Pizzoli, Davide Scaramuzza
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We propose a new method for the localization of a Micro Aerial Vehicle (MAV) with respect to a ground robot.  ...  Once aligned, the dense reconstruction from the MAV is used to augment the map computed by the ground robot, by extending it with the information conveyed by the aerial views.  ...  This capability will allow the robots to execute collaborative tasks and to present the teleoperator with a ground map which is augmented with aerial views from the MAV.  ... 
doi:10.1109/iros.2013.6696924 dblp:conf/iros/ForsterPS13 fatcat:okho22jghvhmdf2prctddszyoq

Design and Development of Aerial Robotic Systems for Sampling Operations in Industrial Environment [chapter]

Rodrigo Munguia, Edmundo Guerra, Sarquis Urzua, Yolanda Bolea, Antoni Grau
2017 Aerial Robots - Aerodynamics, Control and Applications  
The automated sampling system will be based on collaborative robotics, with a team of a UAV and a UGV platform travelling through a plant to collect water samples.  ...  A visual simultaneous localization and mapping (SLAM) technique is proposed to deal with the localization problem, based on authors' previous works, including several innovations: a new method to initialize  ...  One of the challenges that any autonomous Unmanned Aerial Vehicle (UAV) has to face is that of estimating its pose with respect to the relevant navigational frames with accuracy.  ... 
doi:10.5772/intechopen.70005 fatcat:hzne5iv44zh57gto57exefd2nq

A Review of Visual-Inertial Simultaneous Localization and Mapping from Filtering-Based and Optimization-Based Perspectives

Chang Chen, Hua Zhu, Menggang Li, Shaoze You
2018 Robotics  
Because of its advantages in terms of robustness, VI-SLAM enjoys wide applications in the field of localization and mapping, including in mobile robotics, self-driving cars, unmanned aerial vehicles, and  ...  autonomous underwater vehicles.  ...  The EuRoC datasets consist of 11 visual inertial sequences recorded onboard a micro-aerial vehicle while it is manually piloted around three different indoor environments.  ... 
doi:10.3390/robotics7030045 fatcat:wy54dx2lhfcrrnuwzcgtm6jmbq

Collaborative localization and formation flying using distributed stereo-vision

Nathan Piasco, Julien Marzat, Martial Sanfourche
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
This paper considers collaborative stereo-vision as a mean of localization for a fleet of micro-air vehicles (MAV) equipped with monocular cameras, inertial measurement units and sonar sensors.  ...  Experimental tests for the complete perception and control loop have been performed on multiple MAVs with centralized processing on a ROS ground station.  ...  A first approach of collaborative localization consists in merging individual maps created by mono-vehicle monocular SLAMs.  ... 
doi:10.1109/icra.2016.7487251 dblp:conf/icra/PiascoMS16 fatcat:wmp7trbavbfcbg2isqpyxsiuwm

A Collaborative Visual SLAM Framework for Service Robots [article]

Ming Ouyang, Xuesong Shi, Yujie Wang, Yuxin Tian, Yingzhe Shen, Dawei Wang, Peng Wang, Zhiqiang Cao
2021 arXiv   pre-print
We present a collaborative visual simultaneous localization and mapping (SLAM) framework for service robots.  ...  The framework is general enough to support both RGB-D and monocular cameras, as well as robots with multiple cameras, taking the rigid constraints between cameras into consideration.  ...  Although they are originally designed for Augmented Reality (AR) or Micro Aerial Vehicle (MAV) applications, many of the techniques can be applied to service robot scenarios.  ... 
arXiv:2102.03228v3 fatcat:h5f22pit3za4vkxr4acmvi35ym

Application Challenges from a Bird's-Eye View [chapter]

Davide Scaramuzza
2017 Computer Vision in Vehicle Technology  
unmanned aerial and underwater vehicles.  ...  , lane departure warning, traffic sign recognition), autonomous driving and robot navigation (with visual simultaneous localization and mapping) or unmanned aerial vehicles (obstacle avoidance, landscape  ...  Forster C, Lynen S, Kneip L and Scaramuzza D 2013 Collaborative monocular SLAM with multiple micro aerial vehicles Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems  ... 
doi:10.1002/9781118868065.ch6 fatcat:fsljmro5izhh5mp4z3hcrgstby

A Multi-Sensorial Simultaneous Localization and Mapping (SLAM) System for Low-Cost Micro Aerial Vehicles in GPS-Denied Environments

Elena López, Sergio García, Rafael Barea, Luis Bergasa, Eduardo Molinos, Roberto Arroyo, Eduardo Romera, Samuel Pardo
2017 Sensors  
It allows to improve the results of well-known monocular visual SLAM methods (LSD-SLAM and ORB-SLAM are tested and compared in this work) by solving scale ambiguity and providing additional information  ...  This paper presents a Simultaneous Localization and Mapping (SLAM) system that remotely calculates the pose and environment map of different low-cost commercial aerial platforms, whose onboard computing  ...  It has also be funded with the "Estrategias de guiado y exploración para micro-robots aéreos en entornos interiores" Project (CCG2016/EXP-049) of the University of Alcalá.  ... 
doi:10.3390/s17040802 pmid:28397758 pmcid:PMC5422163 fatcat:cg35fbhypjhatgzdlfqjhvfroq

GPS-denied Indoor and Outdoor Monocular Vision Aided Navigation and Control of Unmanned Aircraft

Girish Chowdhary, Eric N. Johnson, Daniel Magree, Allen Wu, Andy Shein
2013 Journal of Field Robotics  
GPS-denied closed-loop autonomous control of unstable Unmanned Aerial Vehicles (UAVs) such as rotorcraft using information from a monocular camera has been an open problem.  ...  The resulting V-INS is sufficiently efficient and reliable to enable real-time implementation on resource constrained aerial vehicles.  ...  Introduction Unmanned Aerial Vehicles (UAVs) and Micro UAVs (M-UAVs) have enjoyed several successes in the past decade.  ... 
doi:10.1002/rob.21454 fatcat:bvomlet3hrbgrjm5p3q5uyso7m
« Previous Showing results 1 — 15 out of 171 results