Aerial Writing
A hybrid force and position Nonlinear Model-Predictive Controller (NMPC) for aerial manipulation showcased by a drone writing on a whiteboard [1].
Aggressive Drone Flight and Failure Recovery using NMPC
Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight [2].
Drone Exploration
Fast Frontier-based Information-driven Autonomous Exploration with an MAV [3].
Adaptive-resolution Mapping
Adaptive-resolution octree-based volumetric SLAM [4].
MID-Fusion
https://www.youtube.com/watch?v=gturboNl9gg;feature=youtu.be
MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAM [5].
InteriorNet
https://www.youtube.com/watch?v=2OPE4KIE4dI;feature=youtu.be
InteriorNet: Mega-scale Multi-sensor Photo-realistic Indoor Scenes Dataset [6].
Downloads and further information at https://interiornet.org/ .
Fusion++
https://www.youtube.com/watch?v=2luKNC03x4k;feature=youtu.be
Fusion++: Volumetric Object-Level SLAM [7].
In collaboration with the Dyson Robotics Lab.
Fully Autonomous Multicopters
Fully autonomous MAV flight and landing on a moving target using visual-inertial estimation and model-predictive control [8].
In collaboration within Aerial Additive Manufacturing (the Aerial Robotics Lab)
Dense RGB-D-Inertial SLAM with Map Deformations
https://www.youtube.com/watch?v=-gUdQ0cxDh0;feature=youtu.be
Dense RGB-D-Inertial SLAM with Map Deformations [9].
In collaboration with the Dyson Robotics Lab.
SemanticFusion
https://www.youtube.com/watch?v=cGuoyNY54kU;feature=youtu.be
SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks [10].
In collaboration with the Dyson Robotics Lab.
Monocular, Real-Time Surface Reconstruction
https://www.youtube.com/watch?v=UB_HDJU6LL4;feature=youtu.be
Monocular, Real-Time Surface Reconstruction using Dynamic Level of Detail [11].
In collaboration with the Dyson Robotics Lab.
ElasticFusion
https://www.youtube.com/watch?v=XySrhZpODYs;feature=youtu.be
ElasticFusion: Real-Time Dense SLAM and Light Source Estimation [12].
In collaboration with the Dyson Robotics Lab.
OKVIS: Open Keyframe-based Visual Inertial SLAM
Keyframe-Based Visual-Inertial Odometry Using Nonlinear Optimisation [13],[14]
Code available under BSD, see software.
BRISK
Binary Robust Invariant Scalable Keypoints [15]
Code available under BSD, see software.
Solar Aeroplane Operations
senseSoar solar aeroplane: first test flights.
| [1] | Dimos Tzoumanikas, Felix Graule, Qingyue Yan, Dhruv Shah, Marija Popovic, Stefan Leutenegger, Aerial Manipulation Using Hybrid Force andPosition NMPC Applied to Aerial Writing, Robotics: Science and Systems (RSS), 2020 |
| [10] | J McCormac, A Handa, A Davison, S Leutenegger, SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks, 2016 |
| [11] | J Zienkiewicz, C Tsiotsios, AJ Davison, S Leutenegger, Monocular, Real-Time Surface Reconstruction using Dynamic Level of Detail, 2016 |
| [12] | T. Whelan, R. F. Salas-Moreno, B. Glocker, A. J. Davison, S. Leutenegger, ElasticFusion: Real-Time Dense SLAM and Light Source Estimation, Intl. J. of Robotics Research, IJRR, 2016 |
| [13] | Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart, Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization., Robotics: Science and Systems, 2013 |
| [14] | Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart, Paul Furgale, Keyframe-based visual–inertial odometry using nonlinear optimization, The International Journal of Robotics Research, pp.0278364914554813, 2014 |
| [15] | Stefan Leutenegger, Margarita Chli, Roland Yves Siegwart, BRISK: Binary robust invariant scalable keypoints, Computer Vision (ICCV), 2011 IEEE International Conference on, pp.2548–2555, 2011 |
| [2] | Dimos Tzoumanikas, Qingyue Yan, Stefan Leutenegger, Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight, 2020 International Conference on Robotics and Automation (ICRA), 2020 |
| [3] | Anna Dai, Sotiris Papatheodorou, Nils Funk, Dimos Tzoumanikas, Stefan Leutenegger, Fast Frontier-based Information-driven Autonomous Exploration with an MAV, 2020 International Conference on Robotics and Automation (ICRA), 2020 |
| [5] | Binbin Xu, Wenbin Li, Dimos Tzoumanikas, Michael Bloesch, Andrew Davison, Stefan Leutenegger, MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAM, arXiv preprint arXiv:1812.07976, 2018 |
| [6] | Wenbin Li, Sajad Saeedi, John McCormac, Ronald Clark, Dimos Tzoumanikas, Qing Ye, Yuzhong Huang, Rui Tang, Stefan Leutenegger, InteriorNet: Mega-scale Multi-sensor Photo-realistic Indoor Scenes Dataset, British Machine Vision Conference (BMVC), 2018 |
| [7] | John McCormac, Ronald Clark, Michael Bloesch, Andrew Davison, Stefan Leutenegger, Fusion++: Volumetric Object-Level SLAM, 2018 |
| [8] | Dimos Tzoumanikas, Wenbin Li, Marius Grimm, Ketao Zhang, Mirko Kovac, Stefan Leutenegger, Fully autonomous MAV flight and landing on a moving target using visual-inertial estimation and model-predictive control, Journal of Field Robotics, 2018 |
| [9] | Tristan Laidlow, Michael Bloesch, Wenbin Li, Stefan Leutenegger, Dense RGB-D-Inertial SLAM with Map Deformations, Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on, 2017 |