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Real-time approach for monocular visual simultaneous localization and mapping (SLAM) within a large-scale environment is proposed. From a monocular video sequence, the proposed method continuously computes the current 6-DOF camera pose and 3D landmarks position. The proposed method successfully builds consistent maps from challenging outdoor sequences using(More)
We present a real-time approach for image-based localization within large scenes that have been reconstructed offline using structure from motion (Sfm). From monocular video, our method continuously computes a precise 6-DOF camera pose, by efficiently tracking natural features and matching them to 3D points in the Sfm point cloud. Our main contribution lies(More)
This article presents a survey on publicly available open-source projects (OSPs) on quadrotor unmanned aerial vehicles (UAVs). Recently, there has been increasing interest in quadrotor UAVs. Exciting videos have been published on the Internet by many research groups and have attracted much attention from the public [1][7]. Relatively simple structures of(More)
In this paper, a new motor control input and controller for small-scale electrically powered multirotor aerial vehicles is proposed. The proposed scheme is based on controlling aerodynamic power as opposed to the rotor speed of each motor-rotor system. Electrical properties of the brushless direct current motor are used to both estimate and control the(More)
— This paper proposes a vision-based obstacle avoidance strategy in a dynamic environment for a fixed-wing unmanned aerial vehicle (UAV). In order to apply a nonlinear model predictive control (NMPC) framework to image-based visual servoing (IBVS), a dynamic model from UAV control input to image features is derived. From this dynamics, a visual(More)
— We describe an efficient image-based localization system which can be used for real-time, continuous semantic localization within a known environment. Our system can precisely localize a camera in real-time from a video stream within a fairly large scene that has been reconstructed offline using structure from motion (SfM). This is achieved by(More)
In this paper, we propose a novel method to recover the 3D trajectory of a moving person from a monocular camera mounted on a quadrotor micro aerial vehicle (MAV). The key contribution is an integrated approach that simultaneously performs visual odometry (VO) and persistent tracking of a person automatically detected in the scene. All computation(More)
This paper considers autonomous onboard hovering flight control of a micro quadrotor using a strapdown optical flow sensor which is conventionally used for desktop mice. The vehicle considered in this paper can carry only a few dozen grams of payload, therefore conventional camera-based optical flow methods are not applicable. We present autonomous hovering(More)
In this paper, we present results on the implementation of a hierarchical quaternion based attitude and trajectory controller for manual and autonomous flights of quadrotors. Unlike previous papers on using quaternion representation, we use the non-linear complementary filter that estimates the attitude in quaternions and as such does not involve Euler(More)