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Robust Stereo Visual Odometry and SLAM for Unmanned Aerial Vehicles

Robust Stereo Visual Odometry and SLAM for Unmanned Aerial Vehicles

Robust Dynamic RGB-D Localization and Mapping for UAVs

This reseach aims to provide the fast and robust visual algorithm for UAV to fly in the GPS-denied environment with high speed. The whole system consists of Asctec Pelican or DJI F550 UAV platform (hexcopter), Pixhawk, IntelNUC (Odroid) and RGB-D Sensor (Asus Xtion Pro Live). The real-time 6D pose is estimated by visual SLAM-based algorithm. The test environment includes: (1) Corridors; (2) Square with Obstacles; (3) Lab (Long-term); (4) School Entrance (Long-term); (5) Parking Places et al. The comparison with VICON and real flight show that the visual SLAM algorithm is accurate and robust.

A System for the Design and Development of Vision-based Multi-robot Quadrotor Swarms

We present a cost-effective framework for the prototyping of vision-based quadrotor multi-robot systems, which core characteristics are: modularity, compatibility with different platforms and being flight-proven. The framework is fully operative and was demonstrated with the participation in the 2013 International Micro Air Vehicle Indoor Flight Competition (Toulouse, France) where it was awarded with the First Prize in the Indoors Autonomy Challenge.

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Latest publications


Congress or Symposium:

2016 International Conference on Unmanned Aircraft Systems (ICUAS'16)

June 7 - 10, 2016
Congress or Symposium:

IEEE World Congress on Computational Intelligence (IEEE WCCI 2014)

2014 July 6-11
Congress or Symposium:

22nd Mediterranean Conference on Control and Automation (MED' 2014)

June 16-19, 2014
Congress or Symposium:

2014 International Conference on Unmanned Aircraft Systems (ICUAS'14)

27 - 30 May, 2014
Congress or Symposium:

2014 International Conference on Unmanned Aircraft Systems (ICUAS'14)

27 - 30 May, 2014
Congress or Symposium:

International Joint Conference on Neural Networks (IJCNN 2014)

July 6-11