Ivan Dryanovski

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An RGB-D camera is a sensor which outputs color and depth and information about the scene it observes. In this paper, we present a real-time visual odometry and mapping system for RGB-D cameras. The system runs at frequencies of 30Hz and higher in a single thread on a desktop CPU with no GPU acceleration required. We recover the unconstrained 6-DoF(More)
In this paper we present a navigation system for Micro Aerial Vehicles (MAV) based on information provided by a visual odometry algorithm processing data from an RGB-D camera. The visual odometry algorithm uses an uncertainty analysis of the depth information to align newly observed features against a global sparse model of previously detected 3D features.(More)
Advancing research into autonomous micro aerial vehicle navigation requires data structures capable of representing indoor and outdoor 3D environments. The vehicle must be able to update the map structure in real time using readings from range-finding sensors when mapping unknown areas; it must also be able to look up occupancy information from the map for(More)
We describe CHISEL: a system for real-time housescale (300 square meter or more) dense 3D reconstruction onboard a Google Tango [1] mobile device by using a dynamic spatially-hashed truncated signed distance field[2] for mapping, and visual-inertial odometry for localization. By aggressively culling parts of the scene that do not contain surfaces, we avoid(More)
Orientation estimation using low cost sensors is an important task for Micro Aerial Vehicles (MAVs) in order to obtain a good feedback for the attitude controller. The challenges come from the low accuracy and noisy data of the MicroElectroMechanical System (MEMS) technology, which is the basis of modern, miniaturized inertial sensors. In this article, we(More)
Autonomous micro-UAV navigation requires techniques that allow for the accurate mapping of unstructured 3D environments such as stairwells, tunnels, and caves. As a step towards that goal, this paper presents a system to build three-dimensional maps of rectilinear environments, where the horizontal cross-section of the world is invariant at different(More)
This paper presents an open-source indoor navigation system for quadrotormicro aerial vehicles(MAVs), implemented in the ROS framework. The system requires a minimal set of sensors including a planar laser range-finder and an inertial measurement unit. We address the issues of autonomous control, state estimation, path-planning, and teleoperation, and(More)
This paper presents the implementation of an open-source 6-DoF pose estimation system for micro-air vehicles and considers the future implications and benefits of open-source robotics. The system is designed to provide high frequency pose estimates in unknown, GPS-denied indoor environments. It requires a minimal set of sensors including a planar laser(More)
An RGB-D camera is a sensor which outputs range and color information about objects. Recent technological advances in this area have introduced affordable RGB-D devices in the robotics community. In this paper, we present a real-time technique for 6-DoF camera pose estimation through the incremental registration of RGB-D images. First, a set of edge(More)
The aim of this paper is to design an inexpensive conceivable wearable navigation system that can aid in the navigation of a visually impaired user. A novel approach of utilizing the floor plan map posted on the buildings is used to acquire a semantic plan. The extracted landmarks such as room numbers, doors, etc act as a parameter to infer the way points(More)