Two-dimensional landmark-based position estimation from a single image

A Visual Based Extended Monte Carlo Localization for Autonomous Mobile Robots

“…Furthermore, after completing the sensor-based resampling, all samples are supposed to be uniformly distributed and re-weighted by motion/sensor updates in the next cycle. The triangulation method is utilized for resampling from visual features, where visual angles are served as the observation features in the application (Krotkov, 1989;Mufioz & Gonzalez, 1998;Yuen & MacDonald, 2005). Ideally, the robot can be uniquely localized with at least three features, as shown in Figure 3 (a), where the number 1~3 denotes the index of features.…”

Sensordatenfusion zur Robusten und Präzisen EKF Lokalisierung von Mobilen Robotern

“…sierung während der Fahrt (on-the-fly) konzentrieren. Überdies scheint die Anwendung elaboriertere Assoziationsstrategien wie diejenigen von [6] und [10] vielversprechend, nicht nur im Falle der vertikalen Kanten, sondern auch für Liniensegmente.…”

“…[6] [1]. Vertikale Kanten in Kombination mit dem EKF wurden in [7] be-nutzt, in [10] wurde ein auf diesem Merkmal basierendes globales Relokalisierungsschema für das Problem eines in bekannter Umgebung verlorenen Roboters entwickelt.…”

Enhancement of a commercial multicopter for research in autonomous navigation

“…Due to the recent appearance of small and lightweight yet powerful computers, drones can now carry part or even all needed computation power on-board, alongside additional sensors [12][13][14] [15]. This way it is possible to develop true autonomous drones that offers the possibility for fast deployment without the need for extra equipment.…”