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Local multi-resolution representation for 6D motion estimation and mapping with a continuously rotating 3D laser scanner
2014
2014 IEEE International Conference on Robotics and Automation (ICRA)
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We present an efficient 3D multi-resolution map that we use to aggregate measurements from a lightweight continuously rotating laser scanner. ...
Micro aerial vehicles (MAV) pose a challenge in designing sensory systems and algorithms due to their size and weight constraints and limited computing power. ...
INTRODUCTION Micro aerial vehicles (MAV) such as quadrotors have attracted attention in the field of aerial robotics. Their size and weight limitations pose a challenge in designing sensory systems. ...
doi:10.1109/icra.2014.6907626
dblp:conf/icra/DroeschelSB14
fatcat:q6gisaji2fctnhpjdvd4tahvna
Obstacle detection and navigation planning for autonomous micro aerial vehicles
2014
2014 International Conference on Unmanned Aircraft Systems (ICUAS)
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Obstacle detection and real-time planning of collision-free trajectories are key for the fully autonomous operation of micro aerial vehicles in restricted environments. ...
We evaluate our approach in simulation and with the real autonomous micro aerial vehicle. ...
INTRODUCTION Micro aerial vehicles (MAVs) are enjoying increasing popularity. Due to their low cost and flexibility, they are used for aerial photography, inspection and surveillance missions. ...
doi:10.1109/icuas.2014.6842355
fatcat:nqh5wcycu5go5bnpwt4zmqmfge
Autonomous MAV navigation in complex GNSS-denied 3D environments
2015
2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
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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 ...
Micro aerial vehicles, such as multirotors, are particular well suited for the autonomous exploration, examination, and surveillance of otherwise inaccessible areas, e.g., for search and rescue missions ...
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 ...
doi:10.1109/ssrr.2015.7443012
dblp:conf/ssrr/NieuwenhuisenDB15
fatcat:cxqxvadonbcpvgruuq2mdgrx3e
Efficient Lazy Theta* Path Planning over a Sparse Grid to Explore Large 3D Volumes with a Multirotor UAV
2019
Sensors
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Exploring large, unknown, and unstructured environments is challenging for Unmanned Aerial Vehicles (UAVs), but they are valuable tools to inspect large structures safely and efficiently. ...
In particular, a sparse resolution grid in the form of an octree is used, organizing the measurements spatially, merging voxels when they are of the same state. ...
The authors would also like to thank Helen Oleynikova from Autonomous Systems Lab at ETH Zürich for all the insightful discussions. ...
doi:10.3390/s19010174
fatcat:wlr4euehmzb6tmahz6e6rgbtqq
Active Mapping and Robot Exploration: A Survey
2021
Sensors
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Simultaneous localization and mapping responds to the problem of building a map of the environment without any prior information and based on the data obtained from one or more sensors. ...
In most situations, the robot is driven by a human operator, but some systems are capable of navigating autonomously while mapping, which is called native simultaneous localization and mapping. ...
In addition, 3D data management is a key requisite for Unmanned Aerial Vehicles (UAVs). ...
doi:10.3390/s21072445
pmid:33918107
fatcat:gdkdn2p2lfe7pfngwec55bxozu
Autonomous Navigation for Micro Aerial Vehicles in Complex GNSS-denied Environments
2015
Journal of Intelligent and Robotic Systems
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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 ...
Micro aerial vehicles, such as multirotors, are particular well suited for the autonomous monitoring, inspection, and surveillance of buildings, e.g., for maintenance in industrial plants. ...
for Industry 4.0 project InventAIRy. ...
doi:10.1007/s10846-015-0274-3
fatcat:bvsfhwoq2nborcrruyqtxhziiy
Efficient Octree-Based Volumetric SLAM Supporting Signed-Distance and Occupancy Mapping
2018
IEEE Robotics and Automation Letters
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We present a dense volumetric SLAM framework that uses an octree representation for efficient fusion and rendering of either a truncated signed distance field (TSDF) or occupancy map. ...
We furthermore demonstrate a probabilistic occupancy mapping as an alternative to TSDF mapping in dense SLAM and show its direct applicability to online motion planning, using the example of Informed RRT ...
Fig. 1: Example trajectory (green) for a multicopter Micro Aerial Vehicle (MAV) computed with the Informed RRT* planning algorithm (with smoothing) depicted on a finegrained occupancy map obtained by our ...
doi:10.1109/lra.2018.2792537
dblp:journals/ral/VespaNGNKL18
fatcat:3n3ysu6bure7neh7ko7j57f3vq
River mapping from a flying robot: state estimation, river detection, and obstacle mapping
2012
Autonomous Robots
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Overall we can build an accurate 3D obstacle map and a 2D map of the river course and width from light onboard sensing. ...
a 3D map of the riverine environment. ...
Acknowledgements The authors gratefully acknowledge Lyle Chamberlain, and Justin Haines for their feedback and help with hardware. ...
doi:10.1007/s10514-012-9293-0
fatcat:nkv74xudhzbm5j2wsiykm3k6ke
SplatPlanner: Efficient Autonomous Exploration via Permutohedral Frontier Filtering
2021
2021 IEEE International Conference on Robotics and Automation (ICRA)
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Abstract-We address the problem of autonomous exploration of unknown environments using a Micro Aerial Vehicle (MAV) equipped with an active depth sensor. ...
Micro Aerial Vehicles (MAVs) in particular are often favored thanks to their agility, form-factor and affordability. ...
doi:10.1109/icra48506.2021.9560896
fatcat:m55dssfvfjdbxea7iauoopjuau
From monocular SLAM to autonomous drone exploration
2017
2017 European Conference on Mobile Robots (ECMR)
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2017 pre-print arXiv:1609.07835v2 fatcat:kh5ttxt5tbhllkezhnddnrrnqiOther Versions
Micro aerial vehicles (MAVs) are strongly limited in their payload and power capacity. ...
We propose an obstacle mapping and exploration approach that takes the properties of our semi-dense monocular SLAM system into account. ...
INTRODUCTION Most autonomous micro aerial vehicles (MAVs) to date rely on depth sensing through e.g. laser scanners, RGB-D or stereo cameras. ...
doi:10.1109/ecmr.2017.8098709
dblp:conf/ecmr/StumbergUESC17
fatcat:3srxdl3pujhmnp3uahwyynggga
Application of Deep Learning on Millimeter-Wave Radar Signals: A Review
2021
Sensors
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Furthermore, we give an extensive review of the recent deep learning-based multi-sensor fusion models exploiting radar signals and camera images for object detection tasks. ...
Most of the prominent deep learning models exploit data representations acquired with either Lidar or camera sensors, leaving automotive radars rarely used. ...
[114] proposed an occupancy grid mapping using clustered radar data (point cloud). ...
doi:10.3390/s21061951
pmid:33802217
pmcid:PMC7999239
fatcat:4sek2e2parf2vpfatqhe7m5sjy
UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown
2020
IEEE Robotics and Automation Letters
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3D models are an essential part of many robotic applications. ...
In applications where the environment is unknown a-priori, or where only a part of the environment is known, it is important that the 3D model can handle the unknown space efficiently. ...
It was mainly developed for planning or trajectory optimizations in the context of micro aerial vehicles (MAVs). ...
doi:10.1109/lra.2020.3013861
fatcat:vrjgpziejrelpb6foiubk4unem
A 3D Reactive Navigation Algorithm for Mobile Robots by Using Tentacle-Based Sampling
[article]
2020
arXiv
pre-print
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This paper introduces a reactive navigation framework for mobile robots in 3-dimensional (3D) space. ...
These tentacles are evaluated at each time-step, based on heuristic features such as closeness to the goal, previous tentacle preferences and nearby obstacles in a robot-centered 3D grid. ...
In another recent Micro Aerial Vehicle (MAV) framework [8] , the local occupancy information is represented by linear octree structure. ...
arXiv:2001.09199v1
fatcat:ee5g77mglnek7lt2qqhrrw5qgu
2020 Index IEEE Robotics and Automation Letters Vol. 5
2020
IEEE Robotics and Automation Letters
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., +, LRA Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments. ...
., +, LRA April 2020 3360-3367 Cooperative Mapping and Target Search Over an Unknown Occupancy Graph Using Mutual Information. ...
doi:10.1109/lra.2020.3032821
fatcat:qrnouccm7jb47ipq6w3erf3cja
Voxblox: Incremental 3D Euclidean Signed Distance Fields for on-board MAV planning
2017
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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2016 pre-print arXiv:1611.03631v1 fatcat:ggaw52aeezgsfgsj7dvycfuo5uOther Versions
Micro Aerial Vehicles (MAVs) that operate in unstructured, unexplored environments require fast and flexible local planning, which can replan when new parts of the map are explored. ...
We show that we can build TSDFs faster than Octomaps, and that it is more accurate to build ESDFs out of TSDFs than occupancy maps. ...
Lau et al. have presented an efficient method of dynamically building ESDFs out of occupancy maps [13] . ...
doi:10.1109/iros.2017.8202315
dblp:conf/iros/OleynikovaTFSN17
fatcat:4meb56jp25evvjkv2tskuk52kq
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