TY - GEN
T1 - Semi-Dense Visual-Inertial Odometry and Mapping for Quadrotors with SWAP Constraints
AU - Liu, Wenxin
AU - Loianno, Giuseppe
AU - Mohta, Kartik
AU - Daniilidis, Kostas
AU - Kumar, Vijay
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - Micro Aerial Vehicles have the potential to assist humans in real life tasks involving applications such as smart homes, search and rescue, and architecture construction. To enhance autonomous navigation capabilities these vehicles need to be able to create dense 3D maps of the environment, while concurrently estimating their own motion. In this paper, we are particularly interested in small vehicles that can navigate cluttered indoor environments. We address the problem of visual inertial state estimation, control and 3D mapping on platforms with Size, Weight, And Power (SWAP) constraints. The proposed approach is validated through experimental results on a 250 g, 22 cm diameter quadrotor equipped only with a stereo camera and an IMU with a computationally-limited CPU showing the ability to autonomously navigate, while concurrently creating a 3D map of the environment.
AB - Micro Aerial Vehicles have the potential to assist humans in real life tasks involving applications such as smart homes, search and rescue, and architecture construction. To enhance autonomous navigation capabilities these vehicles need to be able to create dense 3D maps of the environment, while concurrently estimating their own motion. In this paper, we are particularly interested in small vehicles that can navigate cluttered indoor environments. We address the problem of visual inertial state estimation, control and 3D mapping on platforms with Size, Weight, And Power (SWAP) constraints. The proposed approach is validated through experimental results on a 250 g, 22 cm diameter quadrotor equipped only with a stereo camera and an IMU with a computationally-limited CPU showing the ability to autonomously navigate, while concurrently creating a 3D map of the environment.
UR - https://www.scopus.com/pages/publications/85063154105
U2 - 10.1109/ICRA.2018.8463163
DO - 10.1109/ICRA.2018.8463163
M3 - 会议稿件
AN - SCOPUS:85063154105
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3904
EP - 3909
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -