Related papers: Minimal Solvers for Indoor UAV Positioning
In this paper we present four cases of minimal solutions for two-view relative pose estimation by exploiting the affine transformation between feature points and we demonstrate efficient solvers for these cases. It is shown, that under the…
Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple industries and application domains. Lightweight MAVs with only an onboard flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical ranging sensors)…
In this paper we propose a novel approach aimed at recovering the 3D position of an UUV from UAV imagery in shallow-water environments. Through combination of UAV and UUV measurements, we show that our method can be utilized as an accurate…
Squared planar markers are a popular tool for fast, accurate and robust camera localization, but its use is frequently limited to a single marker, or at most, to a small set of them for which their relative pose is known beforehand. Mapping…
Unmanned aerial vehicle (UAV) is becoming increasingly important in modern civilian and military applications. However, its novel use cases is bottlenecked by conventional satellite and terrestrial localization technologies, and calling for…
We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to…
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up…
We propose a computational approach to find a minimal set of 360-degree camera placements that together sufficiently cover an indoor environment for the building documentation problem in the architecture, engineering, and construction (AEC)…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
Relative pose estimation, a fundamental computer vision problem, has been extensively studied for decades. Existing methods either estimate and decompose the essential matrix or directly estimate the rotation and translation to obtain the…
As UAV technology improves, more uses have been found for these versatile autonomous vehicles, from surveillance to aerial photography, to package delivery, and each of these applications poses unique challenges. This paper implements a…
Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric computer vision. In this paper, we consider the case in…
Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) or high precision inertial navigation systems (INS) for geolocalization. In…
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…
UAVs have been widely used in visual inspections of buildings, bridges and other structures. In either outdoor autonomous or semi-autonomous flights missions strong GPS signal is vital for UAV to locate its own positions. However, strong…
High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…
Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the…
Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…
In this paper, we consider a position estimation problem for an unmanned aerial vehicle (UAV) equipped with both proprioceptive sensors, i.e. IMU, and exteroceptive sensors, i.e. GPS and a barometer. We propose a data-driven position…
Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…