Semi-dense visual-inertial odometry and mapping for quadrotors with SWAP constraints

W. Liu; Giuseppe Loianno; Kartik Mohta; Kostas Daniilidis; Vijay Kumar

Semi-dense visual-inertial odometry and mapping for quadrotors with SWAP constraints

W. Liu, Giuseppe Loianno, Kartik Mohta, Kostas Daniilidis, Vijay Kumar

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Micro Aerial Vehicles have the potential to assist humans in real life tasks involving applications such as smart homes, search and rescue, and architecture construction. To enhance autonomous navigation capabilities these vehicles need to be able to create dense 3D maps of the environment, while concurrently estimating their own motion. In this paper, we are particularly interested in small vehicles that can navigate cluttered indoor environments. We address the problem of visual inertial state estimation, control and 3D mapping on platforms with Size, Weight, And Power (SWAP) constraints. The proposed approach is validated through experimental results on a 250 g, 22 cm diameter quadrotor equipped only with a stereo camera and an IMU with a computationally-limited CPU showing the ability to autonomously navigate, while concurrently creating a 3D map of the environment.

Original language	English (US)
Title of host publication	ICRA International conference on Robotics and Automation
Publisher	IEEE
Pages	3904-3909
State	Published - Sep 10 2018
Event	2018 International Conference on Robotics and Automation - Brisbane Convention and Exhibition Centre, Brisbane, Australia Duration: May 21 2018 → May 25 2018

Conference

Conference	2018 International Conference on Robotics and Automation
Abbreviated title	ICRA 2018
Country/Territory	Australia
City	Brisbane
Period	5/21/18 → 5/25/18

Cite this

@inproceedings{241d09299d634418b818a9986edc14cd,

title = "Semi-dense visual-inertial odometry and mapping for quadrotors with SWAP constraints",

abstract = "Micro Aerial Vehicles have the potential to assist humans in real life tasks involving applications such as smart homes, search and rescue, and architecture construction. To enhance autonomous navigation capabilities these vehicles need to be able to create dense 3D maps of the environment, while concurrently estimating their own motion. In this paper, we are particularly interested in small vehicles that can navigate cluttered indoor environments. We address the problem of visual inertial state estimation, control and 3D mapping on platforms with Size, Weight, And Power (SWAP) constraints. The proposed approach is validated through experimental results on a 250 g, 22 cm diameter quadrotor equipped only with a stereo camera and an IMU with a computationally-limited CPU showing the ability to autonomously navigate, while concurrently creating a 3D map of the environment.",

author = "W. Liu and Giuseppe Loianno and Kartik Mohta and Kostas Daniilidis and Vijay Kumar",

note = "Funding Information: This work was supported by Qualcomm Research, the ARL grant W911NF-08-2-0004, ONR grants N00014-07-1-0829, N00014-14-1-0510, ARO grant W911NF-13-1-0350, NSF grants IIS-1426840, IIS-1138847, DARPA grants HR001151626, and HR0011516850. Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 International Conference on Robotics and Automation, ICRA 2018 ; Conference date: 21-05-2018 Through 25-05-2018",

year = "2018",

month = sep,

day = "10",

language = "English (US)",

pages = "3904--3909",

booktitle = "ICRA International conference on Robotics and Automation",

publisher = "IEEE",

}

TY - GEN

T1 - Semi-dense visual-inertial odometry and mapping for quadrotors with SWAP constraints

AU - Liu, W.

AU - Loianno, Giuseppe

AU - Mohta, Kartik

AU - Daniilidis, Kostas

AU - Kumar, Vijay

N1 - Funding Information: This work was supported by Qualcomm Research, the ARL grant W911NF-08-2-0004, ONR grants N00014-07-1-0829, N00014-14-1-0510, ARO grant W911NF-13-1-0350, NSF grants IIS-1426840, IIS-1138847, DARPA grants HR001151626, and HR0011516850. Publisher Copyright: © 2018 IEEE.

PY - 2018/9/10

Y1 - 2018/9/10

N2 - Micro Aerial Vehicles have the potential to assist humans in real life tasks involving applications such as smart homes, search and rescue, and architecture construction. To enhance autonomous navigation capabilities these vehicles need to be able to create dense 3D maps of the environment, while concurrently estimating their own motion. In this paper, we are particularly interested in small vehicles that can navigate cluttered indoor environments. We address the problem of visual inertial state estimation, control and 3D mapping on platforms with Size, Weight, And Power (SWAP) constraints. The proposed approach is validated through experimental results on a 250 g, 22 cm diameter quadrotor equipped only with a stereo camera and an IMU with a computationally-limited CPU showing the ability to autonomously navigate, while concurrently creating a 3D map of the environment.

AB - Micro Aerial Vehicles have the potential to assist humans in real life tasks involving applications such as smart homes, search and rescue, and architecture construction. To enhance autonomous navigation capabilities these vehicles need to be able to create dense 3D maps of the environment, while concurrently estimating their own motion. In this paper, we are particularly interested in small vehicles that can navigate cluttered indoor environments. We address the problem of visual inertial state estimation, control and 3D mapping on platforms with Size, Weight, And Power (SWAP) constraints. The proposed approach is validated through experimental results on a 250 g, 22 cm diameter quadrotor equipped only with a stereo camera and an IMU with a computationally-limited CPU showing the ability to autonomously navigate, while concurrently creating a 3D map of the environment.

M3 - Conference contribution

SP - 3904

EP - 3909

BT - ICRA International conference on Robotics and Automation

PB - IEEE

T2 - 2018 International Conference on Robotics and Automation

Y2 - 21 May 2018 through 25 May 2018

ER -

Semi-dense visual-inertial odometry and mapping for quadrotors with SWAP constraints

Abstract

Conference

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