Results 1 - 10 of 17

Scale-aware navigation of a lowcost quadrocopter with a monocular camera

by Jakob Engel, Daniel Cremers - Robotics and Autonomous Systems (RAS , 2014
"... We present a complete solution for the visual navigation of a small-scale, low-cost quadrocopter in unknown environ-ments. Our approach relies solely on a monocular camera as the main sensor, and therefore does not need external tracking aids such as GPS or visual markers. Costly computations are ca ..."
Abstract - Cited by 4 (1 self) - Add to MetaCart
We present a complete solution for the visual navigation of a small-scale, low-cost quadrocopter in unknown environ-ments. Our approach relies solely on a monocular camera as the main sensor, and therefore does not need external tracking aids such as GPS or visual markers. Costly computations

Semi-Dense Visual Odometry for a Monocular Camera ∗

by Jakob Engel, Jürgen Sturm, Daniel Cremers, Tu München
"... We propose a fundamentally novel approach to real-time visual odometry for a monocular camera. It allows to benefit from the simplicity and accuracy of dense tracking – which does not depend on visual features – while running in real-time on a CPU. The key idea is to continuously estimate a semi-den ..."
Abstract - Cited by 16 (4 self) - Add to MetaCart
. Yet, these methods are to date either not real-time capable on standard CPUs [11, 15, 17] or require direct depth measurements from the sensor [7], making them unsuitable for many practical applications. In this paper, we propose a novel semi-dense visual odometry approach for a monocular camera

Semi-Direct EKF-based Monocular Visual-Inertial Odometry

by Petri Tanskanen, Tobias Naegeli, Marc Pollefeys, Otmar Hilliges
"... Abstract — We propose a novel monocular visual inertial odometry algorithm that combines the advantages of EKF-based approaches with those of direct photometric error mini-mization methods. The method is based on sparse, very small patches and incorporates the minimization of photometric error direc ..."
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Abstract — We propose a novel monocular visual inertial odometry algorithm that combines the advantages of EKF-based approaches with those of direct photometric error mini-mization methods. The method is based on sparse, very small patches and incorporates the minimization of photometric error

LSD-SLAM: Large-scale direct monocular SLAM

by Jakob Engel, Daniel Cremers - In ECCV , 2014
"... Abstract. We propose a direct (feature-less) monocular SLAM algo-rithm which, in contrast to current state-of-the-art regarding direct meth-ods, allows to build large-scale, consistent maps of the environment. Along with highly accurate pose estimation based on direct image align-ment, the 3D enviro ..."
Abstract - Cited by 26 (3 self) - Add to MetaCart
Abstract. We propose a direct (feature-less) monocular SLAM algo-rithm which, in contrast to current state-of-the-art regarding direct meth-ods, allows to build large-scale, consistent maps of the environment. Along with highly accurate pose estimation based on direct image align-ment, the 3D

Semi-Dense Visual Odometry for AR on a Smartphone

by Jakob Engel, Daniel Cremers
"... Figure 1: From left to right: AR demo application with simulated car. Corresponding estimated semi-dense depth map. Estimated dense collision mesh, fixed and shown from a different perspective. Photo of running system. The attached video shows the system in action. We present a direct monocular visu ..."
Abstract - Cited by 5 (1 self) - Add to MetaCart
Figure 1: From left to right: AR demo application with simulated car. Corresponding estimated semi-dense depth map. Estimated dense collision mesh, fixed and shown from a different perspective. Photo of running system. The attached video shows the system in action. We present a direct monocular

Robust Direct Visual Inertial Odometry via Entropy-based Relative Pose Estimation

by Jianjun Gui, Dongbing Gu, Huosheng Hu
"... Abstract—Visual solution methods, like monocular visual odometry and monoSLAM, have attracted increasingly interests in robotics area. However, due to the large computational burden around volume sequential images processing, it is still hard to make numerous visual-based algorithms applying in high ..."
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in highly agile platforms like Micro Aerial Vehicle (MAV) in real-time circumstance. In this paper, we present a method, which combines the direct image information from monocular camera and the measurements from inertial sensor in an Extend Kalman Filter (EKF) framework to perform an effective odometry

NARROW FIELD-OF-VIEW VISUAL ODOMETRY BASED ON A FOCUSED PLENOPTIC CAMERA

by N. Zellera, F. Quinta, U. Stillab
"... In this article we present a new method for visual odometry based on a focused plenoptic camera. This method fuses the depth data gained by a monocular Simultaneous Localization and Mapping (SLAM) algorithm and the one received from a focused plenoptic cam-era. Our algorithm uses the depth data and ..."
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and the totally focused images supplied by the plenoptic camera to run a real-time semi-dense direct SLAM algorithm. Based on this combined approach, the scale ambiguity of a monocular SLAM system can be overcome. Fur-thermore, the additional light-field information highly improves the tracking capabilities

Camera-Based Navigation of a Low-Cost Quadrocopter

by Jakob Engel, Jürgen Sturm, Daniel Cremers - in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
"... Abstract — In this paper, we describe a system that enables a low-cost quadrocopter coupled with a ground-based laptop to navigate autonomously in previously unknown and GPSdenied environments. Our system consists of three components: a monocular SLAM system, an extended Kalman filter for data fusio ..."
Abstract - Cited by 28 (6 self) - Add to MetaCart
) the elimination of odometry drift as a result of the visual SLAM system and (3) accurate, scale-aware pose estimation and navigation. I.

Real-Time Metric State Estimation for Modular Vision-Inertial Systems

by Stephan Weiss - IEEE International Conference on Robotics and Automation (ICRA , 2011
"... Abstract — Single camera solutions- such as monocular visual odometry or monoSLAM approaches- found a wide echo in the community. All the monocular approaches, however, suffer from the lack of metric scale. In this paper, we present a solution to tackle this issue by adding an inertial sensor equipp ..."
Abstract - Cited by 24 (10 self) - Add to MetaCart
Abstract — Single camera solutions- such as monocular visual odometry or monoSLAM approaches- found a wide echo in the community. All the monocular approaches, however, suffer from the lack of metric scale. In this paper, we present a solution to tackle this issue by adding an inertial sensor

Real-time dense visual tracking under large lighting variations

by Maxime Meilland, Andrew Ian Comport, Patrick Rives, Sophia Antipolis - in Proc. Conf , 2011
"... This paper proposes a model for large illumination variations to improve direct 3D tracking techniques since they are highly prone to illumination changes. Within this context dense monocular and multi-camera tracking techniques are presented which each perform in real-time (45Hz). The proposed appr ..."
Abstract - Cited by 13 (7 self) - Add to MetaCart
This paper proposes a model for large illumination variations to improve direct 3D tracking techniques since they are highly prone to illumination changes. Within this context dense monocular and multi-camera tracking techniques are presented which each perform in real-time (45Hz). The proposed
Results 1 - 10 of 17