Organizational Unit:
Institute for Robotics and Intelligent Machines (IRIM)
Institute for Robotics and Intelligent Machines (IRIM)
Permanent Link
Research Organization Registry ID
Description
Previous Names
Parent Organization
Parent Organization
Includes Organization(s)
Organizational Unit
Organizational Unit
ArchiveSpace Name Record
2 results
Publication Search Results
Now showing
1 - 2 of 2
-
ItemMonocular Parallel Tracking and Mapping with Odometry Fusion for MAV Navigation in Feature-Lacking Environments(Georgia Institute of Technology, 2013-11) Ta, Duy-Nguyen ; Ok, Kyel ; Dellaert, FrankDespite recent progress, autonomous navigation on Micro Aerial Vehicles with a single frontal camera is still a challenging problem, especially in feature-lacking environ- ments. On a mobile robot with a frontal camera, monoSLAM can fail when there are not enough visual features in the scene, or when the robot, with rotationally dominant motions, yaws away from a known map toward unknown regions. To overcome such limitations and increase responsiveness, we present a novel parallel tracking and mapping framework that is suitable for robot navigation by fusing visual data with odometry measurements in a principled manner. Our framework can cope with a lack of visual features in the scene, and maintain robustness during pure camera rotations. We demonstrate our results on a dataset captured from the frontal camera of a quad- rotor flying in a typical feature-lacking indoor environment.
-
Item4D View Synthesis: Navigating Through Time and Space(Georgia Institute of Technology, 2007) Sun, Mingxuan ; Schindler, Grant ; Kang, Sing Bing ; Dellaert, Frank