• Publications
  • Influence
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). Expand
Introduction to Autonomous Mobile Robots
Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to theExpand
Keyframe-based visual–inertial odometry using nonlinear optimization
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. Expand
The EuRoC micro aerial vehicle datasets
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. Expand
PID vs LQ control techniques applied to an indoor micro quadrotor
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. Expand
Robust visual inertial odometry using a direct EKF-based approach
In this paper, we present a monocular visual-inertial odometry algorithm which, by directly using pixel intensity errors of image patches, achieves accurate tracking performance while exhibiting aExpand
A Toolbox for Easily Calibrating Omnidirectional Cameras
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. Expand
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
The results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor are presented, a backstepping and a sliding-mode techniques. Expand
Design and control of an indoor micro quadrotor
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. Expand
A novel parametrization of the perspective-three-point problem for a direct computation of absolute camera position and orientation
This paper proposes a novel closed-form solution to the P3P problem, which computes the aligning transformation directly in a single stage, without the intermediate derivation of the points in the camera frame, at much lower computational cost. Expand