Výsledky vyhledávání

Hierarchical Object Map Estimation for Efficient and Robust Navigation

Autor: Kyel Ok, Katherine E. Liu, Nicholas Roy

Publikováno v: ICRA

We propose a hierarchical representation of objects, where the representation of each object is allowed to change based on the quality of accumulated measurements. We initially estimate each object as a 2D bounding box or a 3D point, encoding only th

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::1c4b718bc8c084c02907f6053618f95b
https://doi.org/10.1109/icra48506.2021.9561225

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Search and rescue under the forest canopy using multiple UAVs

Autor: Yulun Tian, Katherine Liu, Kyel Ok, Loc Tran, Danette Allen, Nicholas Roy, Jonathan P. How

Publikováno v: arXiv

We present a multi-robot system for GPS-denied search and rescue under the forest canopy. Forests are particularly challenging environments for collaborative exploration and mapping, in large part due to the existence of severe perceptual aliasing wh

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::3234ce95f7752ae8b7236d1559d36f5c
https://hdl.handle.net/1721.1/136167

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Search and Rescue Under the Forest Canopy Using Multiple UAS

Autor: Danette Allen, Loc Tran, Yulun Tian, Nicholas Roy, Kyel Ok, Jonathan P. How, Katherine E. Liu

Publikováno v: Springer Proceedings in Advanced Robotics ISBN: 9783030339494
ISER

We present an autonomous system consisting of multiple unmanned aerial vehicles (UAVs) for search and rescue under the forest canopy. Our vehicles can be rapidly deployed, can collaboratively explore expanses of terrain efficiently, and are agile eno

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::f1ea9723365dd76f236576ab1e44b7c5
https://doi.org/10.1007/978-3-030-33950-0_13

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Robust Object-based SLAM for High-speed Autonomous Navigation

Autor: Kris Frey, Katherine E. Liu, Jonathan P. How, Kyel Ok, Nicholas Roy

Publikováno v: ICRA
arXiv

We present Robust Object-based SLAM for High-speed Autonomous Navigation (ROSHAN), a novel approach to object-level mapping suitable for autonomous navigation. In ROSHAN, we represent objects as ellipsoids and infer their parameters using three sourc

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::6e1a04ebb4ecfcf3242b5a379d7578fe
https://doi.org/10.1109/icra.2019.8794344

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Vistas and parallel tracking and mapping with Wall–Floor Features: Enabling autonomous flight in man-made environments

Autor: Duy-Nguyen Ta, Frank Dellaert, Kyel Ok

Publikováno v: Robotics and Autonomous Systems. 62:1657-1667

We propose a solution towards the problem of autonomous flight in man-made indoor environments with a micro aerial vehicle (MAV), using a frontal camera, a downward-facing sonar, and odometry inputs. While steering an MAV towards distant features tha

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::4ede7d1851604dec9fde4dd5d81b91b8
https://doi.org/10.1016/j.robot.2014.03.010

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Multi-level mapping: Real-time dense monocular SLAM

Autor: W. Nicholas Greene, Nicholas Roy, Peter H. Lommel, Kyel Ok

Publikováno v: ICRA
MIT web domain

We present a method for Simultaneous Localization and Mapping (SLAM) using a monocular camera that is capable of reconstructing dense 3D geometry online without the aid of a graphics processing unit (GPU). Our key contribution is a multi-resolution d

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::fdd3f411136f0e76eec7d51febfa645e
https://doi.org/10.1109/icra.2016.7487213

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Simultaneous tracking and rendering: Real-time monocular localization for MAVs

Autor: W. Nicholas Greene, Nicholas Roy, Kyel Ok

Publikováno v: MIT web domain
ICRA

We propose a method of real-time monocular camera-based localization in known environments. With the goal of controlling high-speed micro air vehicles (MAVs), we localize with respect to a mesh map of the environment that can support both pose estima

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::db526a71f1452ce7837a280da68c0b63
https://orcid.org/0000-0002-9541-7129

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Monocular image space tracking on a computationally limited MAV

Autor: Kyel Ok, Tom Drummond, Frank Dellaert, Nicholas Roy, Dinesh Gamage

Publikováno v: Other univ. web domain
ICRA

We propose a method of monocular camera-inertial based navigation for computationally limited micro air vehicles (MAVs). Our approach is derived from the recent development of parallel tracking and mapping algorithms, but unlike previous results, we

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b0094f669c96682e459bfef099d8a825
https://orcid.org/0000-0002-8293-0492

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Path planning with uncertainty: Voronoi Uncertainty Fields

Autor: Sameer Ansari, Mike Stilman, Frank Dellaert, Kyel Ok, Billy Gallagher, William Sica

Publikováno v: ICRA

In this paper, a two-level path planning algorithm that deals with map uncertainty is proposed. The higher level planner uses modified generalized Voronoi diagrams to guarantee finding a connected path from the start to the goal if a collision-free p

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::9a649df1e61bf74a015e520a94907314
https://doi.org/10.1109/icra.2013.6631230

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