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Local multi-resolution representation for 6D motion estimation and mapping with a continuously rotating 3D laser scanner

David Droeschel, Jorg Stuckler, Sven Behnke
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
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

Matthias Nieuwenhuisen, David Droeschel, Marius Beul, Sven Behnke
2014 2014 International Conference on Unmanned Aircraft Systems (ICUAS)  
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

Matthias Nieuwenhuisen, David Droeschel, Marius Beul, Sven Behnke
2015 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)  
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

Margarida Faria, Ricardo Marín, Marija Popović, Ivan Maza, Antidio Viguria
2019 Sensors  
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

Iker Lluvia, Elena Lazkano, Ander Ansuategi
2021 Sensors  
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

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  ...  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

Emanuele Vespa, Nikolay Nikolov, Marius Grimm, Luigi Nardi, Paul H. J. Kelly, Stefan Leutenegger
2018 IEEE Robotics and Automation Letters  
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

Sebastian Scherer, Joern Rehder, Supreeth Achar, Hugh Cover, Andrew Chambers, Stephen Nuske, Sanjiv Singh
2012 Autonomous Robots  
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

Anthony Brunel, Amine Bourki, Cedric Demonceaux, Olivier Strauss
2021 2021 IEEE International Conference on Robotics and Automation (ICRA)  
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

Lukas von Stumberg, Vladyslav Usenko, Jakob Engel, Jorg Stuckler, Daniel Cremers
2017 2017 European Conference on Mobile Robots (ECMR)  
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

Fahad Jibrin Abdu, Yixiong Zhang, Maozhong Fu, Yuhan Li, Zhenmiao Deng
2021 Sensors  
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

Daniel Duberg, Patric Jensfelt
2020 IEEE Robotics and Automation Letters  
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]

Neşet Ünver Akmandor, Taşkın Padır
2020 arXiv   pre-print
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  
., +, 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

Helen Oleynikova, Zachary Taylor, Marius Fehr, Roland Siegwart, Juan Nieto
2017 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
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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