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Flexible Stereo: Constrained, Non-rigid, Wide-baseline Stereo Vision for Fixed-wing Aerial Platforms [article]

Timo Hinzmann, Tim Taubner, Roland Siegwart
2018 arXiv   pre-print
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]

Timo Hinzmann, Cesar Cadena, Juan Nieto, Roland Siegwart
2019 arXiv   pre-print
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

Michael Warren, Ben Upcroft
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
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

Luke Cramphorn, John Lloyd, Nathan F. Lepora
2018 2018 IEEE International Conference on Robotics and Automation (ICRA)  
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

Aníbal Ollero, Luís Merino
2004 Annual Reviews in Control  
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

A. Ollero
2003 IFAC Proceedings Volumes  
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

Anibal Ollero, Marco Tognon, Alejandro Suarez, Dongjun Lee, Antonio Franchi
2021 IEEE Transactions on robotics  
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

A. Tscharf, M. Rumpler, F. Fraundorfer, G. Mayer, H. Bischof
2015 ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
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]

Tian-Zhu Xiang, Gui-Song Xia, Liangpei Zhang
2018 arXiv   pre-print
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

Guowei Cai, Jorge Dias, Lakmal Seneviratne
2014 Unmanned Systems  
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  
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

Markus Rumpler, Alexander Tscharf, Christian Mostegel, Shreyansh Daftry, Christof Hoppe, Rudolf Prettenthaler, Friedrich Fraundorfer, Gerhard Mayer, Horst Bischof
2017 Computer Vision and Image Understanding  
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  
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)  
., 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]

Radouane Ait Jellal, Universitaet Tuebingen, Universitaet Tuebingen, Zell, Andreas (Prof. Dr.)
2020
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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