Collaborative monocular SLAM with multiple Micro Aerial Vehicles

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2013, Pages 3963-3970

  Forster, Christian ^a   Lynen, Simon ^b   Kneip, Laurent ^b   Scaramuzza, Davide ^a  

^a UNIVERSITY OF ZURICH   (Switzerland)

^b ETH ZURICH   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

COLLABORATIVE LOCALIZATIONS; GLOBAL COORDINATES; MICRO AERIAL VEHICLE; MULTIPLE THREADS; OUTDOOR ENVIRONMENT; REAL TIME PERFORMANCE; REAL-TIME COLLABORATIVE; VISUAL ODOMETRY;

INTELLIGENT ROBOTS; MICRO AIR VEHICLE (MAV);

VISION;

EID: 84893776847     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2013.6696923     Document Type: Conference Paper

References (27)

1. M. Bl̈osch, S. Weiss, D. Scaramuzza, and R. Siegwart, "Vision based MAV navigation in unknown and unstructured environments," IEEE Proc. Int. Conf. on Robotics and Automation, 2010.
2. S. Weiss, D. Scaramuzza, and R. Siegwart, "Monocular-SLAM-based navigation for autonomous micro helicopters in GPS-denied environments," Journal of Field Robotics, vol. 28, no. 6, pp. 854-874, 2011.
3. D. Fox, W. Burgard, H. Kruppa, and S. Thrun, "A probabilistic approach to collaborative multi-robot localization," Autonomous Robots, 2000.
4. R. Rocha, J. Dias, and A. Carvalho, "Cooperative multi-robot systems: A study of vision-based 3-d mapping using information theory," Journal of Robotics and Autonomous Systems, Vol 52, No 3-4, 2005.
5. A. Howard, G. Sukhatme, and M. Mataric, "Multi-robot mapping using manifold representations," Proceedings of the IEEE-Special Issue on Multi-robot Systems, 2006.
6. N. Trawny, S. Roumeliotis, and G. Giannakis, "Cooperative multirobot localization under communication constraints," IEEE Proc. Int. Conf. on Robotics and Automation, 2009.
7. A. Martinelli, F. Pont, and R. Siegwart, "Multi-robot localization using relative observations," IEEE Proc. Int. Conf. on Robotics and Automation, 2005.
8. M. Cognetti, P. Stegagno, A. Franchi, G. Oriolo, and H. H. Buelthoff, "3D mutual localization with anonymous bearing measurements," IEEE Proc. Int. Conf. on Robotics and Automation, 2012.
9. J. Sola, A. Monin, M. Devy, and T. Vidal-Calleja, "Fusing monocular information in multicamera SLAM," Robotics: Science and Systems, 2008.
10. T. A. Vidal-Calleja, C. Berger, J. Sola, and S. Lacroix, "Large scale multiple robot visual mapping with heterogeneous landmarks in semistructured terrain," Robotics and Autonomous Systems, 2011.
11. M. Achtelik, S. Weiss, M. Chli, F. Dellaert, and R. Siegwart, "Collaborative Stereo," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
12. Z. Danping and T. Ping, "CoSLAM: Collaborative visual slam in dynamic environments," IEEE Pattern Anal. Machine Intell., 2012.
13. J. McDonald, M. Kaess, C. Cadena, J. Neira, and J. J. Leonard, "6-DOF Multi-session Visual SLAM using Anchor Nodes," Proc. European Conference on Mobile Robots, 2011.
14. A. Cunningham, V. Indelman, and F. Dellaert, "DDF-SAM 2.0: Consistent distributed smoothing and mapping," IEEE Proc. Int. Conf. on Robotics and Automation, 2013.
15. L. Kneip, M. Chli, and R. Siegwart, "Robust Real-Time Visual Odometry with a Single Camera and an IMU," Proc. British Machine Vision Conference, 2011.
16. G. Klein and D. Murray, "Parallel Tracking and Mapping for Small AR Workspaces," IEEE and ACM International Symposium on Mixed and Augmented Reality, Nov. 2007.
17. R. K̈ummerle, G. Grisetti, and K. Konolige, "g2o: A General Framework for Graph Optimization," IEEE Proc. Int. Conf. on Robotics and Automation, 2011.
18. H. Strasdat, J. M. M. Montiel, and A. J. Davison, "Real-time Monocular SLAM: Why Filter?" IEEE Proc. Int. Conf. on Robotics and Automation, pp. 2657-2664, 2010.
19. E. Mouragnon, M. Lhuillier, M. Dhome, F. Dekeyser, and P. Sayd, "3D Reconstruction of Complex Structures with Bundle Adjustment: an Incremental Approach," IEEE Proc. Int. Conf. on Robotics and Automation, 2006.
20. J. Sivic and A. Zisserman, "Video Google: a text retrieval approach to object matching in videos," Int. Conf. on Computer Vision, 2003.
21. C. Evans, Notes on the OpenSURF Library. University Bristol, 2009.
22. A. J. Glover, W. P. Maddern, M. J. Milford, and G. F. Wyeth, "FABMAP + RatSLAM: appearance-based SLAM for multiple times of day," IEEE Proc. Int. Conf. on Robotics and Automation, 2010.
23. S. Leutenegger, M. Chli, and R. Siegwart, "BRISK: Binary Robust Invariant Scalable Keypoints," Int. Conf. on Computer Vision, 2011.
24. L. Kneip, D. Scaramuzza, and R. Siegwart, "A Novel Parametrization of the Perspective-Three-Point Problem for a Direct Computation of Absolute Camera Position and Orientation," IEEE Proc. Conf. on Computer Vision and Pattern Recognition, 2011.
25. M. A. Fischler and R. C. Bolles, "Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography," Communications of the ACM, 1981.
26. H. Strasdat and A. J. Davison, "Scale Drift-Aware Large Scale Monocular SLAM," Robotics: Science and Systems, 2010.
27. M. W. Achtelik, S. Lynen, S. Weiss, L. Kneip, M. Chli, and R. Siegwart, "Visual-Inertial SLAM for a Small Helicopter in Large Outdoor Environments," Video Proc. Int. Conf. on Intelligent Robots and Systems, 2012