Nothing Special   »   [go: up one dir, main page]

Abruzzo et al., 2019 - Google Patents

A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives

Abruzzo et al., 2019

View PDF
Document ID
6938194829774914608
Author
Abruzzo B
Cappelleri D
Mordohai P
Publication year
Publication venue
International Design Engineering Technical Conferences and Computers and Information in Engineering Conference

External Links

Snippet

This paper presents and evaluates a relative localization scheme for a heterogeneous team of low-cost mobile robots. An error-state, complementary Kalman Filter was developed to fuse analytically-derived uncertainty of stereoscopic pose measurements of an aerial robot …
Continue reading at core.ac.uk (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0295—Fleet control by at least one leading vehicle of the fleet
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0044—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00—Application
    • G05D2201/02—Control of position of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
    • G01C21/10—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis

Similar Documents

Publication Publication Date Title
Achtelik et al. Autonomous navigation and exploration of a quadrotor helicopter in GPS-denied indoor environments
Ganganath et al. Mobile robot localization using odometry and kinect sensor
Brand et al. Stereo-vision based obstacle mapping for indoor/outdoor SLAM
Zhou et al. Guidance: A visual sensing platform for robotic applications
Shen et al. Localization through fusion of discrete and continuous epipolar geometry with wheel and IMU odometry
Nikdel et al. The hands-free push-cart: Autonomous following in front by predicting user trajectory around obstacles
Chatterjee et al. Mobile robot navigation
Troiani et al. Low computational-complexity algorithms for vision-aided inertial navigation of micro aerial vehicles
Deng et al. Global optical flow-based estimation of velocity for multicopters using monocular vision in GPS-denied environments
Sun et al. Autonomous state estimation and mapping in unknown environments with onboard stereo camera for micro aerial vehicles
Pinto et al. Self-localisation of indoor mobile robots using multi-hypotheses and a matching algorithm
Li et al. Autonomous navigation and environment modeling for MAVs in 3-D enclosed industrial environments
Johnson Vision-assisted control of a hovering air vehicle in an indoor setting
Gonzalez-Jimenez et al. Improving 2d reactive navigators with kinect
Pritzl et al. Fusion of Visual-Inertial Odometry with LiDAR Relative Localization for Cooperative Guidance of a Micro-Scale Aerial Vehicle
Aminzadeh et al. Implementation and performance evaluation of optical flow navigation system under specific conditions for a flying robot
Chen et al. Perception system design for low-cost commercial ground robots: Sensor configurations, calibration, localization and mapping
Abruzzo et al. A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives
Roggeman et al. Embedded vision-based localization and model predictive control for autonomous exploration
Abruzzo et al. USMA Digital Commons
Agarwal et al. Monocular vision based navigation and localisation in indoor environments
Santos et al. Indoor waypoint UAV navigation using a RGB-D system
Popp et al. A reduced camera SLAM approach for indoor and outdoor navigation using laser information for landmark initialization and relative motion information
Abruzzo et al. Comparing Complementary Kalman Filters Against SLAM for Collaborative Localization of Heterogeneous Multirobot Teams
Ajiskrishnan et al. Vision-based position and orientation estimation of an aerial vehicle