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The purpose of this paper is to evaluate the use of a micro aerial vehicle (MAV) for autonomous inspection and 3D reconstruction of underground mines. The goal is to manually fly an MAV equipped with cameras and a laser range sensor into a vertical shaft to collect data. This data can be used to evaluate the performance of the localization system as well as post processed to reconstruct a 3D model...
This work presents a novel approach to spatio-temporal calibration of a laser range finder (LRF) with respect to a combination of a stereo camera and an inertial measurement unit (IMU). Spatial calibration between an LRF and a camera has been extensively studied, but so far the temporal relationship between the two has largely been neglected. While this may be sufficient for applications where the...
Here we present an approach to estimate the global pose of a vehicle in the face of two distinct problems; first, when using stereo visual odometry for relative motion estimation, a lack of features at close range causes a bias in the motion estimate. The other challenge is localizing in the global coordinate frame using very infrequent GPS measurements. Solving these problems we demonstrate a method...
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