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