|
|
| Line 12: |
Line 12: |
| | | level = Ms | | | level = Ms |
| | }} | | }} |
| − |
| |
| − | == Goal ==
| |
| − | The aim of the project is to develop an architecture for indoor autonomous exploration, including door and hole detection ability.
| |
| − |
| |
| − | == Motivation ==
| |
| − | Environment reconstruction and exploration with limited sensoring capacity (monocular view, altitude sensor, gyroscope) using the low cost quadrocopter AR drone 2.0
| |
| − |
| |
| − | == Useful readings ==
| |
| − |
| |
| − | === SLAM ===
| |
| − | * SLAM [http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping]
| |
| − |
| |
| − | * EKF [http://robots.stanford.edu/probabilistic-robotics/]
| |
| − |
| |
| − | * PTAM [http://www.robots.ox.ac.uk/~gk/PTAM/]
| |
| − |
| |
| − | === Navigation ===
| |
| − | * Indoor Navigation with Laser Scanners [http://www.isprs.org/proceedings/XXXVII/congress/1_pdf/167.pdf]
| |
| − | * Depth Camera Localization and Navigation [http://www.cs.cmu.edu/~mmv/papers/12icra-BiswasVeloso.pdf]
| |
| − | * BIM Based Navigation [http://rrg.mchtr.pw.edu.pl/lib/exe/fetch.php?media=en:home:public:publications:bim_based_indoor_navigation_system_of_hermes_mobile_robot.pdf]
| |
| − | * Visibility of Point Clouds and Exploratory Path Planning in Unknown environment [ftp://ftp.math.ucla.edu/pub/camreport/cam08-28.pdf]
| |
| − |
| |
| − | == ROS packages ==
| |
| − | * ardrone driver [http://ros.org/wiki/ardrone_autonomy]
| |
| − | * ardrone PTAM and EKF wrapper [http://www.ros.org/wiki/tum_ardrone]
| |
| − | * Point Cloud Library bridge [http://www.ros.org/wiki/pcl]
| |
| − |
| |
| − |
| |
| − |
| |
| − | {{#ev:youtube|tbkakWK_fKA}} {{#ev:youtube|ybcBYUrTDZw}}
| |
| − |
| |
| − | *[http://www.youtube.com/watch?v=tbkakWK_fKA External link]
| |
| − | *[http://www.youtube.com/watch?v=ybcBYUrTDZw External link]
| |
