35,063 research outputs found
From Monocular SLAM to Autonomous Drone Exploration
Micro aerial vehicles (MAVs) are strongly limited in their payload and power
capacity. In order to implement autonomous navigation, algorithms are therefore
desirable that use sensory equipment that is as small, low-weight, and
low-power consuming as possible. In this paper, we propose a method for
autonomous MAV navigation and exploration using a low-cost consumer-grade
quadrocopter equipped with a monocular camera. Our vision-based navigation
system builds on LSD-SLAM which estimates the MAV trajectory and a semi-dense
reconstruction of the environment in real-time. Since LSD-SLAM only determines
depth at high gradient pixels, texture-less areas are not directly observed so
that previous exploration methods that assume dense map information cannot
directly be applied. We propose an obstacle mapping and exploration approach
that takes the properties of our semi-dense monocular SLAM system into account.
In experiments, we demonstrate our vision-based autonomous navigation and
exploration system with a Parrot Bebop MAV
Performance Evaluation of Vision-Based Algorithms for MAVs
An important focus of current research in the field of Micro Aerial Vehicles
(MAVs) is to increase the safety of their operation in general unstructured
environments. Especially indoors, where GPS cannot be used for localization,
reliable algorithms for localization and mapping of the environment are
necessary in order to keep an MAV airborne safely. In this paper, we compare
vision-based real-time capable methods for localization and mapping and point
out their strengths and weaknesses. Additionally, we describe algorithms for
state estimation, control and navigation, which use the localization and
mapping results of our vision-based algorithms as input.Comment: Presented at OAGM Workshop, 2015 (arXiv:1505.01065
Visualization and Correction of Automated Segmentation, Tracking and Lineaging from 5-D Stem Cell Image Sequences
Results: We present an application that enables the quantitative analysis of
multichannel 5-D (x, y, z, t, channel) and large montage confocal fluorescence
microscopy images. The image sequences show stem cells together with blood
vessels, enabling quantification of the dynamic behaviors of stem cells in
relation to their vascular niche, with applications in developmental and cancer
biology. Our application automatically segments, tracks, and lineages the image
sequence data and then allows the user to view and edit the results of
automated algorithms in a stereoscopic 3-D window while simultaneously viewing
the stem cell lineage tree in a 2-D window. Using the GPU to store and render
the image sequence data enables a hybrid computational approach. An
inference-based approach utilizing user-provided edits to automatically correct
related mistakes executes interactively on the system CPU while the GPU handles
3-D visualization tasks. Conclusions: By exploiting commodity computer gaming
hardware, we have developed an application that can be run in the laboratory to
facilitate rapid iteration through biological experiments. There is a pressing
need for visualization and analysis tools for 5-D live cell image data. We
combine accurate unsupervised processes with an intuitive visualization of the
results. Our validation interface allows for each data set to be corrected to
100% accuracy, ensuring that downstream data analysis is accurate and
verifiable. Our tool is the first to combine all of these aspects, leveraging
the synergies obtained by utilizing validation information from stereo
visualization to improve the low level image processing tasks.Comment: BioVis 2014 conferenc
SurfelMeshing: Online Surfel-Based Mesh Reconstruction
We address the problem of mesh reconstruction from live RGB-D video, assuming
a calibrated camera and poses provided externally (e.g., by a SLAM system). In
contrast to most existing approaches, we do not fuse depth measurements in a
volume but in a dense surfel cloud. We asynchronously (re)triangulate the
smoothed surfels to reconstruct a surface mesh. This novel approach enables to
maintain a dense surface representation of the scene during SLAM which can
quickly adapt to loop closures. This is possible by deforming the surfel cloud
and asynchronously remeshing the surface where necessary. The surfel-based
representation also naturally supports strongly varying scan resolution. In
particular, it reconstructs colors at the input camera's resolution. Moreover,
in contrast to many volumetric approaches, ours can reconstruct thin objects
since objects do not need to enclose a volume. We demonstrate our approach in a
number of experiments, showing that it produces reconstructions that are
competitive with the state-of-the-art, and we discuss its advantages and
limitations. The algorithm (excluding loop closure functionality) is available
as open source at https://github.com/puzzlepaint/surfelmeshing .Comment: Version accepted to IEEE Transactions on Pattern Analysis and Machine
Intelligenc
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