A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is application/pdf.
Filters
Simultaneous Localization and Mapping (SLAM) and Data Fusion in Unmanned Aerial Vehicles: Recent Advances and Challenges
2022
Drones
Preserved Fulltext
SLAM is envisioned as a potential technique for object detection and scene perception to enable UAV navigation through continuous state estimation. ...
This article presents a survey of simultaneous localization and mapping (SLAM) and data fusion techniques for object detection and environmental scene perception in unmanned aerial vehicles (UAVs). ...
UAV-based mobile mapping SLAM systems use LiDAR mounted on UAVs to scan confined spaces. ...
doi:10.3390/drones6040085
fatcat:abl72hadbze3tgwl3xysbcnpoq
Visual SLAM for Autonomous Drone Landing on a Maritime Platform
2022
Zenodo
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is application/pdf.
This paper presents a visual Simultaneous Localization and Mapping (SLAM) method for real-time motion estimation of the UAV with respect to its confined landing area on a maritime platform during landing ...
For safe operation, the relative motion between the UAV and the pitching and rolling deck of a moving ship must be estimated accurately and in real-time. ...
Obstacle-free space perception: ultrasonic and laser scanner sensors are commonly used for obstacle detection. ...
doi:10.5281/zenodo.7074451
fatcat:3chtbg5vnff4fmzcmjtsaz77ny
The Design of Prometheus: A Reconfigurable UAV for Subterranean Mine Inspection
2020
Robotics
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
It details the design of a reconfigurable UAV that is able to be deployed through a 150 mm borehole and unfold to a tip-to-tip diameter of 780 mm, allowing it to carry a payload suitable for a full autonomous ...
The inspection of legacy mine workings is a difficult, time consuming, costly task, as traditional methods require multiple boreholes to be drilled to allow sensors to be placed in the voids. ...
Infrastructure Limited and Thales UK Limited. ...
doi:10.3390/robotics9040095
fatcat:iwvonbfxtrazrmagjhjfqtyoaa
NimbRo Explorer: Semiautonomous Exploration and Mobile Manipulation in Rough Terrain
2015
Journal of Field Robotics
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2015; you can also visit the original URL.
The file type is application/pdf.
Our robot explores, maps, and navigates in previously unknown, uneven terrain using a 3D laser scanner and an omnidirectional RGB-D camera. ...
To handle network communication interruptions and latencies between robot and operator station, we implemented a robust network layer for the middleware ROS. ...
On the allocentric level, a 3D map of the environment is built through registration and SLAM of 3D laser scans of the environment. ...
doi:10.1002/rob.21592
fatcat:zk3ysojlgrf3xgk7svjrgsdoxy
Advanced perception, navigation and planning for autonomous in-water ship hull inspection
2012
The international journal of robotics research
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
These divide into two classes, suitable for the open, forward parts of a typical monohull, and for the complex areas around the shafting, propellers and rudders. ...
In this paper, we develop and apply algorithms for the central navigation and planning problems on ship hulls. ...
Shurn and M. Elkins of Bluefin Robotics for their exceptional support of our experiments. We also gratefully acknowledge many helpful comments provided by the Reviewers. ...
doi:10.1177/0278364912461059
fatcat:na4ee2xk6zcujnk45zi3dts5xm
UAV in the advent of the twenties: Where we stand and what is next
2022
ISPRS journal of photogrammetry and remote sensing (Print)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is application/pdf.
The use of Unmanned Aerial Vehicles (UAVs) has surged in the last two decades, making them popular instruments for a wide range of applications, and leading to a remarkable number of scientific contributions ...
However, the development of best practices for high quality of UAV mapping are often overlooked representing a drawback for their wider adoption. ...
Value Networks and Enabling Meaningful Experiences (UNITE) (decision no 337127) and the Finnish UAV Ecosystem (decision no 337018). ...
doi:10.1016/j.isprsjprs.2021.12.006
fatcat:2fes3xk5wrafxklh6y4skshqla
Simultaneous Localization and Mapping: A Survey of Current Trends in Autonomous Driving
2017
IEEE Transactions on Intelligent Vehicles
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is application/pdf.
We first present the limits of classical approaches for autonomous driving and discuss the criteria that are essential for this kind of application. ...
In this article, we propose a survey of the Simultaneous Localization And Mapping field when considering the recent evolution of autonomous driving. ...
In [277] , a conceptual space representation is proposed based on three different maps: metric (from a SLAM system), navigation (free space) and topological (connections between door-separated areas). ...
doi:10.1109/tiv.2017.2749181
fatcat:ohjoahw24zakrmrleg6vogzg3q
Underground Utilities Imaging and Diagnosis
[chapter]
2021
The Urban Book Series
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
First, it involves sending and retrieving mechanical robots to survey the internal confined spaces of utilities using careful system control and seamless communication electronics. ...
In short, the very challenging nature and large demand for utility imaging and diagnostics have been gradually evolving from the traditional visual inspection to a new era of multi-disciplinary surveying ...
For full-field utility imaging and diagnosis, the underground's confined space and its large volume of captured data require robots carrying sensors and electronics for seamless positionings, like an inertia ...
doi:10.1007/978-981-15-8983-6_24
fatcat:zfol7fgfvngybnlkwr2tkx2m34
FutureMapping: The Computational Structure of Spatial AI Systems
[article]
2018
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf.
We discuss and predict the evolution of Simultaneous Localisation and Mapping (SLAM) into a general geometric and semantic 'Spatial AI' perception capability for intelligent embodied devices. ...
Co-design of algorithms, processors and sensors will be needed. ...
Acknowledgements This paper represents my personal opinions and musings, but has benefitted greatly from many discussions and collaborations over recent years. ...
arXiv:1803.11288v1
fatcat:7o2oqthloredtauxwvwkwtcj6e
Perception, Planning, Control, and Coordination for Autonomous Vehicles
2017
Machines
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is application/pdf.
Autonomous vehicles are expected to play a key role in the future of urban transportation systems, as they offer potential for additional safety, increased productivity, greater accessibility, better road ...
efficiency, and positive impact on the environment. ...
., X.S. and H.A. contributed to the perception content; X.S. contributed to the vehicle cooperation content; All authors had input when writing other sections of the paper, including the introduction and ...
doi:10.3390/machines5010006
fatcat:24h5nl5quve6fpt2wtdyf4qafe
Awareness of Road Scene Participants for Autonomous Driving
[chapter]
2012
Handbook of Intelligent Vehicles
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2013; you can also visit the original URL.
The file type is application/pdf.
This approach utilizes geometric object models and relies on non-parametric filters for inference. Finally, the third class is the grid based approach, which starts by constructing a low level grid ...
This chapter describes detection and tracking of moving objects (DATMO) for purposes of autonomous driving. ...
Fig. 5 shows an example of a virtual sensor, where a 3D scan is converted to a 2D scan. ...
doi:10.1007/978-0-85729-085-4_54
fatcat:lrnbnr4q5vbzrd3pausguhbhom
Autonomous Exploration of Urban Environments using Unmanned Aerial Vehicles
2014
Journal of Field Robotics
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
Although being designed for application on airborne platforms in urban environments, it works directly on raw point clouds and thus can be used with any sensor generating spatial occupancy information ...
It consists of a multicopter, an inertial navigation system and two 2D laser range finders. ...
Still, for many real-world applications in the field, mapping an outdoor environment by simply defining a region of interest in 3D space and leaving the details of the procedure to an autonomous robot ...
doi:10.1002/rob.21526
fatcat:yinitlzrsbd3jgbigg6ump2xju
IPIN 2018 Ninth International Conference on Indoor Positioning and Indoor Navigation
2018
2018 International Conference on Indoor Positioning and Indoor Navigation (IPIN)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf.
, Convex hull, Proper seeding, Guided iterative inflation With a view of robotic path planning inside any cluttered and confined indoor environment, a-priori generation of convex free-spaces offers additional ...
For this, a long narrow hall was equipped with iBeacon infrastructure, an \indoors Navigation instance, and a few cheap Raspberry Pi based sensor stations. ...
Especially in device-free localization systems, recording of reference measurements for fingerprinting is a tedious, costly, and error-prone task. ...
doi:10.1109/ipin.2018.8533737
fatcat:rv5zjhjytjaijcqgvvvpmbfjfa
Autonomous Advanced Aerial Mobility – An End-to-end Autonomy Framework for UAVs and Beyond
[article]
2023
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2023; you can also visit the original URL.
The file type is application/pdf.
Note that this fulltext copy is not of the "primary" version of this work. The version it corresponds to is:
2023 pre-print arXiv:2311.04472v1 fatcat:oeqt5bfwfva63a5ku4fgpq7yae
Thereby, Autonomous Advanced Aerial Mobility is still a vague term and its consequences for researchers and professionals are ambiguous. ...
that guides the research, design, and development efforts in the aerial autonomy space. ...
We have proposed a customizable, modular, and extensible design paradigm that allows for building autonomy stack for different levels of autonomy and different types of aerial vehicles. ...
arXiv:2311.04472v2
fatcat:xz5jd4gkargojnwwnktmhwpbdy
Field Work's Optimization for the Digital Capture of Large University Campuses, Combining Various Techniques of Massive Point Capture
2022
Buildings
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is application/pdf.
The digitalization of the campuses is based on the analysis, evolution and optimization of LiDAR ALS points clouds captured by government bodies, which are open access and free. ...
The research design is based on the Design Science Research (DSR) concept as a methodological approach to design the solutions generated by means of 3D models. ...
It features a GrandSLAM sensor fusion of LiDAR, radar, cameras and GNSS for full scan coverage, plus optimized flight paths. It also has advanced obstacle avoidance for greater flight safety. ...
doi:10.3390/buildings12030380
fatcat:v67hh3jdgvbe5mztjsnprkm6yq
« Previous
Showing results 1 — 15 out of 140 results