Difference between revisions of "PatrolDrone"
From AIRWiki
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* 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] | ||
Revision as of 15:58, 30 May 2013
PatrolDrone
| |
| Short Description: | The goal of the project is to develop a drone able to patrol an indoor ambient to search por intruders |
| Coordinator: | AndreaBonarini (andrea.bonarini@polimi.it) |
| Tutor: | AndreaBonarini (andrea.bonarini@polimi.it) |
| Collaborator: | |
| Students: | DanieleIasella (daniele.iasella@mail.polimi.it), StefanoFossati (stefanofossati.86@gmail.com) |
| Research Area: | Robotics |
| Research Topic: | Robot development |
| Start: | 24/10/2012 |
| Status: | Active |
| 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 [1]
- EKF [2]
- PTAM [3]
- Indoor Navigation with Laser Scanners [4]
- Depth Camera Localization and Navigation [5]
- BIM Based Navigation [6]
- Visibility of Point Clouds and Exploratory Path Planning in Unknown environment [7]
