Aerowork Requirements WP4, Task4.1 - Githubissues

surberj / Vision

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Aerowork Requirements WP4, Task4.1 #17

Closed surberj closed 8 years ago

surberj commented 8 years ago

WP4 (work package 4): Collaborative Perception, Mapping and Vision for Manipulation

explore suitable algorithms and sensor setups for SLAM on every ARW (Aerial Robotic Worker)
autonomous navigation of each ARW
dense scene reconstruction
multi agent --> collaborative approaches
common map and unified frame of reference
coordinated navigation and co-manipulation

Task 4.1: Real-time Vision-based SLAM of a single ARW

ego-motion estimation
map-building
only use the onboard sensing and computation capabilities
outdoors
proposed: build on OKVIS
Use Vision and IMU, no laser-range-finders or similar, possibly include other lightweight sensors (Baro, GPS, ...)
"High" Dynamics
Depth Information necessary for Takeoff and Landing and Manipulation
Robust Performance
Due Date of Task4.1: M14

surberj commented 8 years ago

Following "Probabilistic Robotics, Sebastian Thrun et Al" Aeromworks faces:

Global Localization
Dynamic Environments
Passive Localization
Multi-Robot and Single-Robot Localization