PatrolDrone - Revision history

AndreaBonarini at 17:58, 3 February 2014

2014-02-03T17:58:03Z

AndreaBonarini at 08:32, 11 July 2013

2013-07-11T08:32:56Z

AndreaBonarini: /* Video */

2013-07-11T08:23:42Z

‎Video

AndreaBonarini: /* Video */

2013-07-11T08:08:26Z

‎Video

StefanoFossati at 14:59, 30 May 2013

2013-05-30T14:59:38Z

StefanoFossati at 14:59, 30 May 2013

2013-05-30T14:59:05Z

StefanoFossati at 14:58, 30 May 2013

2013-05-30T14:58:16Z

StefanoFossati at 14:57, 30 May 2013

2013-05-30T14:57:48Z

StefanoFossati at 14:56, 30 May 2013

2013-05-30T14:56:27Z

StefanoFossati at 14:55, 30 May 2013

2013-05-30T14:55:59Z

@@ Line 9: / Line 9: @@
   | start=24/10/2012
   | end= 20/07/2013
-  | status=Active
+  | status=Closed
   | level = Ms
 }}

@@ Line 1: / Line 1: @@
 {{Project
   | title=PatrolDrone
-  | short_descr=The goal of the project is to develop a drone able to patrol an indoor ambient to search por intruders
+  | short_descr=The goal of the project is to develop a drone able to patrol an indoor ambient to search for intruders
   | coordinator=AndreaBonarini
   | tutor=AndreaBonarini
@@ Line 8: / Line 8: @@
   | restopic=Robot development
   | start=24/10/2012
-  | end=
+  | end= 20/07/2013
   | status=Active
   | level = Ms
@@ Line 18: / Line 18: @@
 == Motivation ==
-Environment reconstruction and exploration with limited sensoring capacity (monocular view, altitude sensor, gyroscope) using the low cost quadrocopter AR drone 2.0
+Environment reconstruction and exploration with limited sensorial capacity (monocular view, altitude sensor, gyroscope) using the low cost quadrocopter A.R. Drone 2.0
 == Useful readings ==
@@ Line 48: / Line 48: @@
 Real-time exploration and mapping of environment with low-cost drone and low-cost camera, using PTAM and special exploration heuristics taking into account both the nature of the drone and that of the fast algorithm.
 The three views are: a view from the external camera, the view of the on-board camera, with point cloud visualization, a view of the obtained map.
+In the last part of the movie there is a visit of the map, showing in red the outliers eliminated by the algorithm.
 <!--*[http://www.youtube.com/watch?v=tbkakWK_fKA External link] *[http://www.youtube.com/watch?v=ybcBYUrTDZw External link]}}-->

@@ Line 46: / Line 46: @@
 *[http://youtu.be/MvcreEi9WFY External link]
 *[http://www.youtube.com/watch?v=tbkakWK_fKA External link]
-*[http://www.youtube.com/watch?v=ybcBYUrTDZw External link]
+<!--*[http://www.youtube.com/watch?v=tbkakWK_fKA External link] *[http://www.youtube.com/watch?v=ybcBYUrTDZw External link]}}-->

@@ Line 42: / Line 42: @@
 == Video ==
 *[http://www.youtube.com/watch?v=tbkakWK_fKA External link]
 *[http://www.youtube.com/watch?v=ybcBYUrTDZw External link]

← Older revision		Revision as of 14:59, 30 May 2013
Line 41:		Line 41:


		+	== Video ==
	*[http://www.youtube.com/watch?v=tbkakWK_fKA External link]		*[http://www.youtube.com/watch?v=tbkakWK_fKA External link]
	*[http://www.youtube.com/watch?v=ybcBYUrTDZw External link]		*[http://www.youtube.com/watch?v=ybcBYUrTDZw External link]

← Older revision		Revision as of 14:59, 30 May 2013
Line 39:		Line 39:
	* ardrone PTAM and EKF wrapper [http://www.ros.org/wiki/tum_ardrone]		* ardrone PTAM and EKF wrapper [http://www.ros.org/wiki/tum_ardrone]
	* Point Cloud Library bridge [http://www.ros.org/wiki/pcl]		* Point Cloud Library bridge [http://www.ros.org/wiki/pcl]
		+
		+
		+	*[http://www.youtube.com/watch?v=tbkakWK_fKA External link]
		+	*[http://www.youtube.com/watch?v=ybcBYUrTDZw External link]

← Older revision		Revision as of 14:58, 30 May 2013
Line 28:		Line 28:

	* PTAM [http://www.robots.ox.ac.uk/~gk/PTAM/]		* 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]

← Older revision		Revision as of 14:57, 30 May 2013
Line 21:		Line 21:

	== Useful readings ==		== 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/]

← Older revision		Revision as of 14:56, 30 May 2013
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 ==

← Older revision		Revision as of 14:55, 30 May 2013
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]