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Flexible Stereo: Constrained, Non-rigid, Wide-baseline Stereo Vision for Fixed-wing Aerial Platforms
[article]
2018
arXiv
pre-print
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This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle ...
The approach is structured as follows: Initially, a wing model is identified by fitting a probability density function to measured deviations from the nominal relative baseline transformation. ...
Furthermore, we wish to thank Lucas Teixeira (Vision for Robotics Lab, ETH Zurich) for providing scripts that bridge the gap between Blender and Gazebo. ...
arXiv:1712.06837v2
fatcat:hyahfpertrfvdfto3gzp6uwiny
Flexible Trinocular: Non-rigid Multi-Camera-IMU Dense Reconstruction for UAV Navigation and Mapping
[article]
2019
arXiv
pre-print
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In this paper, we propose a visual-inertial framework able to efficiently estimate the camera poses of a non-rigid trinocular baseline for long-range depth estimation on-board a fast moving aerial platform ...
Based on extensive real-world experiments we describe the challenges and solutions for obtaining the probabilistic wing model, reliable relative inertial measurements, and vision-based relative pose updates ...
For ground robots and rotary-wing Unmanned Aerial Vehicles (UAVs), small baseline rigid stereo rigs or depth cameras have shown to be sufficient to enable autonomous operation. ...
arXiv:1908.08891v1
fatcat:k3w6zgbworbnrhcuqzmziltfna
Robust scale initialization for long-range stereo visual odometry
2013
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
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This paper presents a technique for accurately initializing a long-range stereo VO algorithm at large scene depth, with accurate scale, without explicitly computing structure from rigidly fixed camera ...
Achieving a robust, accurately scaled pose estimate in long-range stereo presents significant challenges. For large scene depths, triangulation from a single stereo pair is inadequate and noisy. ...
experiment, meaning a conventional stereo VO method is incapable of performing adequately. 1) Experimental Platform: The platform used for data gathering is a remotely-piloted fixed-wing Unmanned Aerial ...
doi:10.1109/iros.2013.6696652
dblp:conf/iros/WarrenU13
fatcat:53xpeusyq5bj5ntp6mazjs4r54
Voronoi Features for Tactile Sensing: Direct Inference of Pressure, Shear, and Contact Locations
2018
2018 IEEE International Conference on Robotics and Automation (ICRA)
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STEREO: CONSTRAINED, NON-RIGID, WIDE-BASELINE STEREO VISION FOR FIXED-WING AERIAL PLATFORMS... ...
.......................................................... 2518 Haoang Li ; Jian Yao ; Jean-Charles Bazin ; Xiaohu Lu ; Yazhou Xing ; Kang Liu
.... 2542 Fabiola Maffra ; Zetao Chen ; Margarita Chli FLEXIBLE ...
doi:10.1109/icra.2018.8460644
dblp:conf/icra/CramphornLL18
fatcat:eysxbnheibbtfn572b7l5hgdeu
Control and perception techniques for aerial robotics
2004
Annual Reviews in Control
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Furthermore, computer vision techniques for aerial robotics are briefly considered. Finally, the paper presents systems and projects involving multiple autonomous aerial and ground systems. # ...
This paper review methods and technologies that have been applied in aerial robotics. The paper presents several unmanned aerial vehicle platforms. ...
The authors acknowledge the partners for collaborative work mentioned in the paper. ...
doi:10.1016/j.arcontrol.2004.05.003
fatcat:3ibny2zinbbobdq25n7mveudm4
Control and perception techniques for aerial robotics
2003
IFAC Proceedings Volumes
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Furthermore, computer vision techniques for aerial robotics are briefly considered. Finally, the paper presents systems and projects involving multiple autonomous aerial and ground systems. # ...
This paper review methods and technologies that have been applied in aerial robotics. The paper presents several unmanned aerial vehicle platforms. ...
The authors acknowledge the partners for collaborative work mentioned in the paper. ...
doi:10.1016/s1474-6670(17)33366-9
fatcat:ysf7pe4m5bcdjmfqarbxd2q7tq
Past, Present, and Future of Aerial Robotic Manipulators
2021
IEEE Transactions on robotics
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Finally, a new generation of aerial robotic manipulators is presented with our vision of the future. ...
This article analyzes the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional underactuated multirotors, and multidirectional thrust platforms equipped with ...
An integrated vision-based guiding system for aerial manipulation with a stereo camera is shown in [27] . ...
doi:10.1109/tro.2021.3084395
fatcat:r5vnwmw4gndfxcpzo6h6awuqea
ON THE USE OF UAVS IN MINING AND ARCHAEOLOGY - GEO-ACCURATE 3D RECONSTRUCTIONS USING VARIOUS PLATFORMS AND TERRESTRIAL VIEWS
2015
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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In this paper we present a fully automated processing pipeline for precise, metric and geo-accurate 3D reconstructions of complex geometries using various imaging platforms. ...
During the last decades photogrammetric computer vision systems have been well established in scientific and commercial applications. ...
The second flying platform is a senseFly eBee, a small fixed-wing UAV with a Canon IXUS 127HS compact camera. ...
doi:10.5194/isprsannals-ii-1-w1-15-2015
fatcat:e362wqpp5fggfaor46h5mz4zua
Mini-UAV-based Remote Sensing: Techniques, Applications and Prospectives
[article]
2018
arXiv
pre-print
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In contrast with the platforms of manned aircraft and satellite, the UAV platform holds many promising characteristics: flexibility, efficiency, high-spatial/temporal resolution, low cost, easy operation ...
, etc., which make it an effective complement to other remote-sensing platforms and a cost-effective means for remote sensing. ...
Platforms
Payloads
Aim of study
[220]
Fixed-wing UAV
Canon SD 550
Differentiate bare ground, shrubs, and herbaceous
vegetation in an arid rangeland
[130]
Fixed-wing UAV
Color video camera, Canon ...
arXiv:1812.07770v2
fatcat:l4tdfpr55jbjvhxzi47lwrs2re
A Survey of Small-Scale Unmanned Aerial Vehicles: Recent Advances and Future Development Trends
2014
Unmanned Systems
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This paper provides a brief overview on the recent advances of small-scale unmanned aerial vehicles (UAVs) from the perspective of platforms, key elements, and scientific research. ...
Block diagram of a typical unmanned aerial system. ...
A benchmark work is presented in [45] , which was developed for Stanford's DragonFly UAVs. . Aerial platforms developed for RC purposes are widely adopted as the baseline with minimum modification. ...
doi:10.1142/s2301385014300017
fatcat:pfq667ekbbbghduk4smm3pjuly
2019 Index IEEE Robotics and Automation Letters Vol. 4
2019
IEEE Robotics and Automation Letters
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Tsintotas, K.A., +, LRA April 2019 1737-1744 Real-Time Wide-Baseline Place Recognition Using Depth Completion. ...
., +, LRA July 2019 3067-3074 Fast and Efficient Aerial Climbing of Vertical Surfaces Using Fixed-Wing UAVs. ...
Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots. ...
doi:10.1109/lra.2019.2955867
fatcat:ckastwefh5chhamsravandtnx4
Evaluations on multi-scale camera networks for precise and geo-accurate reconstructions from aerial and terrestrial images with user guidance
2017
Computer Vision and Image Understanding
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In this paper we present a fully automated processing pipeline for precise, metric and geo-accurate 3D reconstructions of complex geometries using various imaging platforms. ...
During the last decades photogrammetric computer vision systems have been well established in scientific and commercial applications. ...
The second flying platform is a senseFly eBee, a small fixed-wing UAV with a Canon IXUS 127HS compact camera. ...
doi:10.1016/j.cviu.2016.04.008
fatcat:w34odookijb5bg3crzb4h46ewi
2021 Index IEEE Robotics and Automation Letters Vol. 6
2021
IEEE Robotics and Automation Letters
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The Author Index contains the primary entry for each item, listed under the first author's name. ...
Under Stereo Vision. ...
., +, LRA Oct. 2021 7893-7900 Insect Inspired Self-Righting for Fixed-Wing Drones. ...
doi:10.1109/lra.2021.3119726
fatcat:lsnerdofvveqhlv7xx7gati2xu
Final Program
2020
2020 International Conference on Unmanned Aircraft Systems (ICUAS)
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., which, as you know, is a non-profit organization that was launched in 2012, registered in the State of Colorado. ...
We thank all of them for their extremely valuable contributions and dedication. Dr. ...
This paper explores 3D path planning for unmanned aerial vehicles (UAVs) in 3D point cloud environments. ...
doi:10.1109/icuas48674.2020.9214039
fatcat:7jr6chhfija47kgtwoxqmfmmoe
Stereo vision and mapping with aerial robots
[article]
2020
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We study problems related to binocular dense stereo matching, stereo visual SLAM and 3D obstacle avoidance using stereo vision. ...
Wir untersuchen Probleme im Zusammenhang mit binokularem dichtem Stereo-Matching, Stereo-visuellem SLAM und 3D-Hindernisvermeidung mit Stereo-Vision. ...
A quadcopter is highly flexible and fly in almost any direction while fixed wing MAVs have limited flexibility. Well known limitations of quadcopter MAVs are the payload and the endurance time. ...
doi:10.15496/publikation-42526
fatcat:6o2ijvnsunej5hilg2ex4ltr3y
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