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Planetary rovers exploring the surface of Mars rely on vision-based localization and navigation algorithms to estimate their state and plan their motion during autonomous traverses. The accurate estimation of rover's motion enables safe navigation across environments with potentially hazardous terrain that would otherwise require careful human intervention. The accuracy of these vision-based localization...
An automated docking system is presented for an autonomous underwater vehicle utilizing light-field imaging for navigation guidance. This article focuses on three major components of the system: docking position acquisition with light-field imaging, optimal docking trajectory planning, and nonlinear trajectory tracking control. With the camera sensor data of each photographic exposure, depth maps...
This paper presents a new approach for navigating a quadrotor over undulated terrains that can be of great importance for the use of unmanned aerial vehicles in civilian applications such as monitoring of pipes, bridges and buildings. The proposed approach involves the use of a single-beam LiDAR to estimate the terrain profile under uncertainty. The LiDAR is installed at the base of a quadrotor and...
In this paper we present an end to end object modeling pipeline for an unmanned aerial vehicle (UAV). We contribute a UAV system which is able to autonomously plan a path, navigate, acquire views of an object in the environment from which a model is built. The UAV does collision checking of the path and navigates only to those areas deemed safe. The data acquired is sent to a registration system which...
In this paper, a fully-autonomous quadrotor aerial robot for solving the different missions proposed in the 2016 International Micro Air Vehicle (IMAV) Indoor Competition is presented. The missions proposed in the IMAV 2016 competition involve the execution of high-level missions such as entering and exiting a building, exploring an unknown indoor environment, recognizing and interacting with objects,...
In this paper, we implement a path planning algorithm and combine with an obstacle avoidance system for a small commercial quadrotor vehicle. To keep the flight safe, the quadrotor navigates with the vision information for obstacle detection. A sequence of images are captured from the onboard camera and used for visual guidance. The optical flow is computed from the images and the derived depth cues...
Observability and motion planning based on optimal information gathering of mobile robot navigation system is considered in this paper. In order to obtain the minimum standard of observable for the bearing-only mobile robot navigation system, the observability is analyzed in this paper. It is known that the observability analysis can only be used to illustrate the observable condition of mobile robot...
Autonomous navigation of generic monocular quadcopter in the natural environment requires sophisticated mechanism for perception, planning and control. In this work, we have described a framework which performs perception using monocular camera and generates minimum time collision free trajectory and control for any commercial quadcopter flying through cluttered unknown environment. The proposed framework...
This paper reports on an active visual SLAM path planning algorithm that plans loop-closure paths in order to decrease visual navigation uncertainty. Loop-closing revisit actions bound the robot's uncertainty but also contribute to redundant area coverage and increased path length.We propose an opportunistic path planner that leverages sampling-based techniques and information filtering for planning...
Obstacle detection and real-time planning of collision-free trajectories are key for the fully autonomous operation of micro aerial vehicles in restricted environments.
We present a path planning method for MAVs with vision-only MonoSLAM that generates safe paths to a goal according to the information richness of the environment. The planner runs on top of monocular SLAM and uses the available information about structure of the environment and features visibility to find trajectories that maintain visual contact with feature-rich areas. The MAV continuously re-plans...
RISC stands for RESCUE using IMAGES for SEARCH during CALAMITY.RISC robots are semi-automated surface motion based robots designed to navigate different terrains replicating the natural movement of reptiles, which could help in traversing challenging and narrow paths where human movement is impossible. RISC robots are most useful in situations where their unique characteristics give them an advantage...
In the application of 3D interactive narratives, virtual camera is a crucial element for appropriate presentation of scenarios happening dynamically. In this work, we have designed a virtual cinematographic system to generate appropriate camera plans automatically in a 3D virtual environment for interactive storytelling. In such a system, not only the story line but also the relative positions between...
3D interface devices are being announced as rendering virtual world navigation easier. We have prepared a usability testing framework for two such devices, SpaceNavigator and SpacePilot PRO, manufactured by 3Dconnexion. The paper summarizes the underlying concepts of usability testing and links them to the requirements of a virtual world 3D interface context. We detail the metrics to be employed and...
As autonomous personal robots come of age, we expect certain applications to be executed with a high degree of repeatability and robustness. In order to explore these applications and their challenges, we need tools and strategies that allow us to develop them rapidly. Serving drinks (i.e., locating, fetching, and delivering), is one such application with well-defined environments for operation, requirements...
Advances in Internet connections speeds and computer hardware means that web content has grown richer and more interactive for users. One such area is Web3D which has seen the emergence of ISO standard technologies such as VRML (Virtual Reality Modeling Language) and its XML-based (eXtensible Markup Language) successor X3D(eXtensible 3D). X3D, in particular, presents opportunities for further integration...
Thanks to the attractions of the multimedia, namely interactivity and multimodality, it seems that web sites and CD-ROMs have the capacity to transmit heritage information to the public. But ultimately they miss real cognitive or educational purposes. Consequently, this article suggests enriching the conception of educational products, combining the potential of video games with the methods of representation...
Building on the extensive research in Virtual Reality (VR), we are proposing a new dynamic prototype for modelling and simulating carbon emissions in a virtual village called VIRVIL. VIRVIL is a simulated settlement for the assessment of the impact of low and zero carbon technologies and measures in the built environment. The prototype will focus on the impact on the community as a whole, as well...
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