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Estimation, planning, and mapping for autonomous flight using an RGB-D camera in GPS-denied environments

Abraham Bachrach, Samuel Prentice, Ruijie He, Peter Henry, Albert S Huang, Michael Krainin, Daniel Maturana, Dieter Fox, Nicholas Roy
2012 The international journal of robotics research  
In this paper, we describe a system for visual odometry and mapping using an RGB-D camera, and its application to autonomous flight.  ...  RGB-D cameras provide both color images and per-pixel depth estimates.  ...  Peter Henry and Dieter Fox were supported by ONR (MURI grant number N00014-09-1-1052), and by the NSF (contract number IIS-0812671), as well as collaborative participation in the Robotics Consortium sponsored  ... 
doi:10.1177/0278364912455256 fatcat:6mm5puzqp5blzl7mabrj3bn43y

Relative navigation of autonomous GPS-degraded micro air vehicles

David O. Wheeler, Daniel P. Koch, James S. Jackson, Gary J. Ellingson, Paul W. Nyholm, Timothy W. McLain, Randal W. Beard
2020 Autonomous Robots  
The practicality of RN is demonstrated in several long flight tests in unknown, GPS-denied and GPS-degraded environments.  ...  Many current approaches for navigation of micro air vehicles (MAVs) in GPS-degraded environments use a globally-referenced state for estimation and control, even though this state is not observable when  ...  prolonged (350 m) autonomous MAV flight in a GPS-denied environment. 22 Their work used a single monocular camera for onboard stabilization and control.  ... 
doi:10.1007/s10514-019-09899-4 fatcat:x6otjuozbnbpljanjrah4bc2c4

Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examination [article]

Daniel Schleich, Marius Beul, Jan Quenzel, Sven Behnke
2021 arXiv   pre-print
We present a system for autonomous MAV flights in unknown environments which does not rely on global positioning systems.  ...  The method is evaluated in multiple search and rescue scenarios and allows for safe autonomous flights, even when transitioning between indoor and outdoor areas.  ...  To provide useful information in search and rescue missions, our MAV additionally features a FLIR AGX thermal camera for e.g., fire detection, and two Intel Realsense D455 RGB-D cameras which are mounted  ... 
arXiv:2103.11742v1 fatcat:woif47obtzafhkh2pefvmrdbsm

Robust Autonomous Flight in Constrained and Visually Degraded Environments [chapter]

Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Silvio Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang, Stephen Nuske
2016 Springer Tracts in Advanced Robotics  
The environment is GPS-denied and visually degraded, containing narrow passageways, doorways and small objects protruding from the wall.  ...  To realize autonomous navigation in such challenging environments, we propose a fast and robust state estimation algorithm that fuses estimates from a direct depth odometry method and a Monte Carlo localization  ...  The other one is the Pixhawk FCU which is used for multisensor data fusion and real-time control. A forward-looking RGB-D camera is used for pose estimation and motion planning.  ... 
doi:10.1007/978-3-319-27702-8_27 fatcat:n4cfvooq5bfizfusti2se4jkwm

Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera [chapter]

Albert S. Huang, Abraham Bachrach, Peter Henry, Michael Krainin, Daniel Maturana, Dieter Fox, Nicholas Roy
2016 Springer Tracts in Advanced Robotics  
In this paper, we describe a system for visual odometry and mapping using an RGB-D camera, and its application to autonomous flight.  ...  RGB-D cameras provide both a color image and per-pixel depth estimates.  ...  This paper presents our approach to providing an autonomous micro air vehicle with fast and reliable state estimates and a 3D map of its environment by using an on-board RGB-D camera and inertial measurement  ... 
doi:10.1007/978-3-319-29363-9_14 fatcat:rszxizbt2vh37oxjkdcz7hevbm

Relative Navigation Approach for Vision-Based Aerial GPS-Denied Navigation

Robert C. Leishman, Timothy W. McLain, Randal W. Beard
2013 Journal of Intelligent and Robotic Systems  
More importantly, for the front end we depart from the common practice of estimating global states and instead keep the position and yaw states of the MEKF relative to the current node in the map.  ...  In this paper we propose a new architecture to simplify some of the challenges that constrain GPS-denied aerial flight.  ...  [12] combine work from [1] and [13] to enable a quadrotor that uses an RGB-D sensor for visual odometry (VO) and mapping.  ... 
doi:10.1007/s10846-013-9914-7 fatcat:siz3mj7tvfaglfn56huayklaie

Relative navigation approach for vision-based aerial GPS-denied navigation

Robert C. Leishman, Timothy W. McLain, Randal W. Beard
2013 2013 International Conference on Unmanned Aircraft Systems (ICUAS)  
More importantly, for the front end we depart from the common practice of estimating global states and instead keep the position and yaw states of the MEKF relative to the current node in the map.  ...  In this paper we propose a new architecture to simplify some of the challenges that constrain GPS-denied aerial flight.  ...  [12] combine work from [1] and [13] to enable a quadrotor that uses an RGB-D sensor for visual odometry (VO) and mapping.  ... 
doi:10.1109/icuas.2013.6564707 fatcat:pqyjtzbmn5gfrhibefz23svbmi

Robotics and Autonomous Robots [chapter]

Henry I. Ibekwe, Ali K. Kamrani
2008 Collaborative Engineering  
In this chapter, we review a set of fundamental topics in relation to autonomous aerial robots, namely a) modeling of flight dynamics, b) modelbased control, c) state estimation and localization for GPS-denied  ...  navigation, as well as d) path planning for autonomous exploration and mapping.  ... 
doi:10.1007/978-0-387-47321-5_9 fatcat:mhmnwk7ksvgrle7cjgja5et2ke

Challenges and Opportunities for Autonomous Micro-UAVs in Precision Agriculture

Xu Liu, Steven W. Chen, Guilherme V. Nardari, Chao Qu, Fernando Cladera Ojeda, Camillo J. Taylor, Vijay Kumar
2022 IEEE Micro  
Such a system will have to estimate its own poses, build a map of the environment, navigate through obstacles, and act to gather information with limited onboard computation and battery life.  ...  Mobile robots such as unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) are increasingly used for precision agriculture.  ...  The need for autonomy in GPS-denied environments leads to bigger sensor and CPU payloads, and the need for longer flight times leads to bigger batteries.  ... 
doi:10.1109/mm.2021.3134744 fatcat:ucjpp7k5vvcfpg4i6yntt4vbta

Deep Neural Network for Real-Time Autonomous Indoor Navigation [article]

Dong Ki Kim, Tsuhan Chen
2015 arXiv   pre-print
In this paper, we propose a practical system in which a quadcopter autonomously navigates indoors and finds a specific target, i.e., a book bag, by using a single camera.  ...  Autonomous indoor navigation of Micro Aerial Vehicles (MAVs) possesses many challenges. One main reason is that GPS has limited precision in indoor environments.  ...  Using laser range finders, RGB-D sensors, or a single camera, a 3-D map of unknown indoor environments and its position in the map can be inferred for autonomous flight ( [2] - [4] ).  ... 
arXiv:1511.04668v2 fatcat:5oaea3qer5gabngumg4org7dxy

Autonomous Mapping and Exploration with Unmanned Aerial Vehicles Using Low Cost Sensors

Ankit Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru
2018 Proceedings (MDPI)  
In this paper, we present an autonomous exploration of UAVs in completely unknown environments using low cost sensors such as LIDAR and an RGBD camera.  ...  Autonomous operation of UAVs is desirable for exploration in unknown environments.  ...  Another problem occurs when the UAV is exploring in GPS denied environments such as indoor environments, and has to completely rely on the onboard sensors for localization and navigation.  ... 
doi:10.3390/ecsa-5-05753 fatcat:m4qsxsqyujdsrb3og7momfbcga

PERCEPTION AND NAVIGATION FOR AN AUTONOMOUS QUADROTOR IN GPS-DENIED ENVIRONMENTS

Sajad Saeedi, Amr Nagaty, Carl Thibault, Michael Trentini, Howard Li
2016 International Journal of Robotics and Automation  
Robots need autonomous navigation to complete their tasks efficiently. This becomes more challenging in GPS-denied environments where positioning information is not available.  ...  Multiple tests were performed in simulated and real-world environments to show the effectiveness of the proposed solution.  ...  Acknowledgments This research is supported by Defence Research and Development Canada (DRDC), Natural Sciences and Engineering Research Council of Canada (NSERC), and Canada Foundation for Innovation (  ... 
doi:10.2316/journal.206.2016.6.206-4434 fatcat:kmfe4pifyvddrnkoff7cm7ha5m

Hybrid Camera Array-Based UAV Auto-Landing on Moving UGV in GPS-Denied Environment

Tao Yang, Qiang Ren, Fangbing Zhang, Bolin Xie, Hailei Ren, Jing Li, Yanning Zhang
2018 Remote Sensing  
GPS-denied environment is effective and robust.  ...  To address these issues, we present a hybrid camera array-based autonomous landing UAV that can land on a moving UGV in a GPS-denied environment.  ...  To expand the search FOV, they used a pan-tilt unit to actuate the vision system, which can enhance the GPS-based localization in an unknown and GPS-denied environment.  ... 
doi:10.3390/rs10111829 fatcat:ucwcazqkbbe47b5ywiiwrlcrpq

Autonomous Navigation for Micro Aerial Vehicles in Complex GNSS-denied Environments

Matthias Nieuwenhuisen, David Droeschel, Marius Beul, Sven Behnke
2015 Journal of Intelligent and Robotic Systems  
Key prerequisites for the fully autonomous operation of micro aerial vehicles in restricted environments are 3D mapping, real-time pose tracking, obstacle detection, and planning of collision-free trajectories  ...  For autonomous navigation, we generate trajectories in a multi-layered approach: from mission planning over global and local trajectory planning to reactive obstacle avoidance.  ...  Acknowledgments This work has been supported by grants BE 2556/7 and BE 2556/8 of German Research Foundation (DFG) and by the German Federal Ministry for Economic Affairs and Energy (BMWi) in the Autonomics  ... 
doi:10.1007/s10846-015-0274-3 fatcat:bvsfhwoq2nborcrruyqtxhziiy

A vision and GPS-based real-time trajectory planning for MAV in unknown urban environments

Gerardo Flores, Shuting Zhou, Rogelio Lozano, Pedro Castillo
2013 2013 International Conference on Unmanned Aircraft Systems (ICUAS)  
To achieve this objective, we develop a safe path planning method using the information provided by the GPS and a consumer depth camera.  ...  The MAV is required to navigate from an initial and outdoor position to a final position inside a building.  ...  In terms of on-board vision system for determining obstacles and objects, Huang [1] developed a system for visual odometry and mapping applying an RGB-D camera which enables an autonomous flight in cluttered  ... 
doi:10.1109/icuas.2013.6564806 fatcat:6ey2f5o2trg2hl76vjckahhcx4
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