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BRISK: Binary Robust invariant scalable keypoints
A comprehensive evaluation on benchmark datasets reveals BRISK's adaptive, high quality performance as in state-of-the-art algorithms, albeit at a dramatically lower computational cost (an order of magnitude faster than SURF in cases).
The EuRoC micro aerial vehicle datasets
- M. Burri, J. Nikolic, R. Siegwart
- Computer Science, Environmental ScienceInt. J. Robotics Res.
- 1 September 2016
Eleven datasets are provided, ranging from slow flights under good visual conditions to dynamic flights with motion blur and poor illumination, enabling researchers to thoroughly test and evaluate their algorithms.
Keyframe-based visual–inertial odometry using nonlinear optimization
- Stefan Leutenegger, Simon Lynen, M. Bosse, R. Siegwart, P. Furgale
- Computer ScienceInt. J. Robotics Res.
- 1 March 2015
This work forms a rigorously probabilistic cost function that combines reprojection errors of landmarks and inertial terms and compares the performance to an implementation of a state-of-the-art stochastic cloning sliding-window filter.
Introduction to Autonomous Mobile Robots
Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners.
Robust visual inertial odometry using a direct EKF-based approach
- Michael Bloesch, Sammy Omari, M. Hutter, R. Siegwart
- Computer ScienceIEEE/RJS International Conference on Intelligent…
- 1 September 2015
A monocular visual-inertial odometry algorithm which achieves accurate tracking performance while exhibiting a very high level of robustness by directly using pixel intensity errors of image patches, leading to a truly power-up-and-go state estimation system.
PID vs LQ control techniques applied to an indoor micro quadrotor
- S. Bouabdallah, A. Noth, R. Siegwart
- EngineeringIEEE/RJS International Conference on Intelligent…
- 28 September 2004
The results of two model-based control techniques applied to an autonomous four-rotor micro helicopter called quadrotor are presented, a classical approach (PID) assumed a simplified dynamics and a modern technique based on a more complete model.
From Coarse to Fine: Robust Hierarchical Localization at Large Scale
- Paul-Edouard Sarlin, César Cadena, R. Siegwart, Marcin Dymczyk
- Computer ScienceComputer Vision and Pattern Recognition
- 9 December 2018
HF-Net is proposed, a hierarchical localization approach based on a monolithic CNN that simultaneously predicts local features and global descriptors for accurate 6-DoF localization and sets a new state-of-the-art on two challenging benchmarks for large-scale localization.
Design and control of an indoor micro quadrotor
- S. Bouabdallah, Pierpaolo Murrieri, R. Siegwart
- Computer ScienceIEEE International Conference on Robotics and…
- 7 June 2004
The approach that the lab has taken to micro VTOL evolving towards full autonomy is described, and the mechanical design, dynamic modelling, sensing, and control of the indoor VTOL autonomous robot OS4 are presented.
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
- S. Bouabdallah, R. Siegwart
- EngineeringProceedings of the IEEE International Conference…
- 18 April 2005
The results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor are presented, a backstepping and a sliding-mode techniques.
A Toolbox for Easily Calibrating Omnidirectional Cameras
- D. Scaramuzza, Agostino Martinelli, R. Siegwart
- Computer ScienceIEEE/RSJ International Conference on Intelligent…
- 1 October 2006
A novel technique for calibrating central omnidirectional cameras by assuming that the imaging function can be described by a Taylor series expansion whose coefficients are estimated by solving a four-step least-squares linear minimization problem, followed by a non-linear refinement based on the maximum likelihood criterion.