What can be done with an embedded stereo-rig in urban environments?

Simond, Nicolas; Rives, Patrick

doi:10.1016/j.robot.2007.11.008

Cited by 5 publications

(3 citation statements)

References 29 publications

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“…For the heading component, it is noted that the range measurement has more heading information when the surface is close to parallel and farther away from the laser source, with the heading in the body frame with respect to walls (ψ) being the same as the direction to the normal (φ). The geometry of the problem is shown in Figure 13, with the measurement matrix defined in Equation 36.…”

Section: Dilution Of Precisionmentioning

confidence: 99%

Laser-Aided Inertial Navigation for Self-Contained Autonomous Indoor Flight

Sobers

Yamaura

Johnson

2010

AIAA Guidance, Navigation, and Control Conference

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Unmanned Aerial Vehicles are often used for reconnaissance, search and rescue, damage assessment, exploration, and other tasks that are dangerous or prohibitively difficult for humans to perform. Often, these tasks include traversing indoor environments where radio links are unreliable, hindering the use of remote pilot links or ground-based control, and effectively eliminating Global Positioning System (GPS) signals as a potential localization method. As a result, any vehicle capable of indoor flight must be able to stabilize itself and perform all guidance, navigation, and control tasks without dependence on a radio link, which may be available only intermittently.Since the availability of GPS signals in unknown environments is not assured, other sensors must be used to provide position information relative to the environment. This research describes the use of a scanning laser rangefinder for position and heading estimation and the incorporation of that estimate in the overall guidance, navigation, and control system to effectively eliminate the dependence on GPS.The combination of a scanning laser rangefinder, a sonar for altitude, and an Inertial Measurement Unit (IMU) are simulated onboard a quadrotor helicopter for active stabilization and position control. Two different navigation algorithms that utilize a scanning laser with techniques borrowed from Simultaneous Localization and Mapping (SLAM) are evaluated for use with an IMU-stabilized flying vehicle. Simulation and experimental results are presented for each of the navigation systems.

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Section: Dilution Of Precisionmentioning

confidence: 99%

Laser-Aided Inertial Navigation for Self-Contained Autonomous Indoor Flight

Sobers

Yamaura

Johnson

2010

AIAA Guidance, Navigation, and Control Conference

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“…Indeed, tracking in urban canyons is a non-trivial problem [2], [1]. It is clear that pose estimation and visual tracking are also important in many applications including robotic vision, augmented reality, medical imaging, etc... Model-based techniques have shown that 3d CAD models are essential for robust, accurate and efficient 3d motion estimation [3], however, they have the major drawback of requiring an a-priori model which is not always available or extremely difficult to obtain as in the case of shapeless objects or large-scale environments.…”

Section: Introductionmentioning

confidence: 99%

Real-time Quadrifocal Visual Odometry

Comport

Malis

Rives

2010

The International Journal of Robotics Research

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This paper describes a new image-based approach to tracking the 6 degrees of freedom trajectory of a stereo camera pair using a corresponding reference image pair whilst simultaneously determining pixel matching between consecutive images in a sequence. A dense minimisation approach is employed which directly uses all grey-scale information available within the stereo pair (or stereo region) leading to very robust and precise results. Metric 3d structure constraints are imposed by consistently warping corresponding stereo images to generate novel viewpoints at each stereo acquisition. An iterative non-linear trajectory estimation approach is formulated based on a quadrifocal relationship between the image intensities within adjacent views of the stereo pair. A robust Mestimation technique is used to reject outliers corresponding to moving objects within the scene or other outliers such as occlusions and illumination changes. The technique is applied to recovering the trajectory of a moving vehicle in long and difficult sequences of images.

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“…Simultaneous localization and mapping (SLAM) benefits from registering wide areas with each stereo pair, the wider the better, as long as the data acquired is consistent enough to be incorporated to the map. The introduction of global navigation satellite systems and vision has led to the adaptation of SLAM methods originally developed for indoors to outdoor environments [5]. The advantage of gathering three-dimensional information cannot be realized at full extent unless the camera can cover the necessary field of view for a given application.…”

Section: Introductionmentioning

confidence: 99%

Bifocal Stereoscopic Vision for Intelligent Vehicles

Rovira-Más

Wang

Zhang

2009

International Journal of Vehicular Technology

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The numerous benefits of real-time 3D awareness for autonomous vehicles have motivated the incorporation of stereo cameras to the perception units of intelligent vehicles. The availability of the distance between camera and objects is essential for such applications as automatic guidance and safeguarding; however, a poor estimation of the position of the objects in front of the vehicle can result in dangerous actions. There is an emphasis, therefore, in the design of perception engines that can make available a rich and reliable interval of ranges in front of the camera. The objective of this research is to develop a stereo head that is capable of capturing 3D information from two cameras simultaneously, sensing different, but complementary, fields of view. In order to do so, the concept of bifocal perception was defined and physically materialized in an experimental bifocal stereo camera. The assembled system was validated through field tests, and results showed that each stereo pair of the head excelled at a singular range interval. The fusion of both intervals led to a more faithful representation of reality.

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What can be done with an embedded stereo-rig in urban environments?

Cited by 5 publications

References 29 publications

Laser-Aided Inertial Navigation for Self-Contained Autonomous Indoor Flight

Laser-Aided Inertial Navigation for Self-Contained Autonomous Indoor Flight

Real-time Quadrifocal Visual Odometry

Bifocal Stereoscopic Vision for Intelligent Vehicles

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