Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs

Chudoba, J.; Kulich, Miroslav; Saska, Martin; BáăźA, Tomáš; PřeuăźIl, Libor

doi:10.1007/s10846-016-0358-8

Cited by 9 publications

(3 citation statements)

References 21 publications

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“…This system is vital for navigation and collision avoidance, especially within crowded environments like a landing zone within the context of package delivery. There have already been many survey papers that review the literature on odometry and state estimation (Balamurugan et al, 2016; Chudoba et al, 2016; Lu et al, 2018; Mohamed et al, 2019). This section specifies techniques for use on an aerial delivery vehicle.…”

Section: Safe Transitmentioning

confidence: 99%

Autonomous aerial robotics for package delivery: A technical review

Saunders

Saeedi

2023

Journal of Field Robotics

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Small unmanned aerial vehicles (UAVs) have gained significant interest in the last decade. More specifically these vehicles have the capacity to impact package delivery logistics in a disruptive way. This paper reviews research problems and state‐of‐the‐art solutions that facilitate package delivery. Different aerial manipulators and grippers are listed along with control techniques to address stability issues. Landing on a platform is next discussed which encompasses static and dynamic platforms. Landing on a dynamic platform presents further challenges. This includes delayed control responses and poor precision of the relative motion between the platform and the aerial vehicle. Subsequently, risks such as weather conditions, state estimation, and collision avoidance to ensure safe transit is considered. Finally, delivery UAV routing is investigated which categorizes the topic into two areas: drone operations and drone–truck collaborative operations. Additionally, we compare the solutions against design, environmental, and legal constraints.

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Section: Safe Transitmentioning

confidence: 99%

Autonomous aerial robotics for package delivery: A technical review

Saunders

Saeedi

2023

Journal of Field Robotics

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“…There have already been many survey papers that review the literature on odometry and state estimation [Mohamed et al, 2019, Lu, 2018, Chudoba et al, 2016, Balamurugan et al, 2016. This section specifies techniques for use on an delivery aerial vehicle.…”

Section: State Estimationmentioning

confidence: 99%

Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved

Saunders

Saeedi

2021

Preprint

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Autonomous aerial delivery vehicles have gained significant interest in the last decade. This has been enabled by technological advancements in aerial manipulators and novel grippers with enhanced force to weight ratios. Furthermore, improved control schemes and vehicle dynamics are better able to model the payload and improved perception algorithms to detect key features within the unmanned aerial vehicle's (UAV) environment. In this survey, a systematic review of the technological advancements and open research problems of autonomous aerial delivery vehicles is conducted. First, various types of manipulators and grippers are discussed in detail, along with dynamic modelling and control methods. Then, landing on static and dynamic platforms is discussed. Subsequently, risks such as weather conditions, state estimation and collision avoidance to ensure safe transit is considered. Finally, delivery UAV routing is investigated which categorises the topic into two areas: drone operations and drone-truck collaborative operations.

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“…Reference-based approaches extract points of interest when rendering the captured images. These points are key in VSLAM systems built on visual odometry 3,4 that use motion prevention algorithms, such as the five-point algorithm 5 or dot algorithm, 6 in the process of geometric reconstruction and mapping. However, in addition to the application of motion, geometric reconstruction-based SLAM systems typically have a map optimization step involving nonlinear adjustments of the threedimensional location of the reference points and robot pose.…”

Section: Introductionmentioning

confidence: 99%

A Distributed Approach for the Implementation of Geometric Reconstruction-Based Visual SLAM Systems

2020

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SUMMARY Visual simultaneous localization and mapping (VSLAM) is a relevant solution for vehicle localization and mapping environments. However, it is computationally expensive because it demands large computational effort, making it a non-real-time solution. The VSLAM systems that employ geometric reconstructions are based on the parallel processing paradigm developed in the Parallel Tracking and Mapping (PTAM) algorithm. This type of system was created for processors that have exactly two cores. The various SLAM methods based on the PTAM were also not designed to scale to all the cores of modern processors nor to function as a distributed system. Therefore, we propose a modification to the pipeline for the execution of well-known VSLAM systems so that they can be scaled to all available processors during execution, thereby increasing their performance in terms of processing time. We explain the principles behind this modification via a study of the threads in the SLAM systems based on PTAM. We validate our results with experiments describing the behavior of the original ORB-SLAM system and the modified version.

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Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs

Cited by 9 publications

References 21 publications

Autonomous aerial robotics for package delivery: A technical review

Autonomous aerial robotics for package delivery: A technical review

Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved

A Distributed Approach for the Implementation of Geometric Reconstruction-Based Visual SLAM Systems

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