Research on visual positioning based on dual UAV collaboration

2021 ◽  
Author(s):  
Yu Tian ◽  
Yiwen Zhang ◽  
Jiawei Li ◽  
Junwen Zhu
Keyword(s):  
Visual Positioning

scholarly journals Research on Visual Positioning of a Roadheader and Construction of an Environment Map

2021 ◽  
Vol 11 (11) ◽  
pp. 4968
Author(s):  
Wentao Zhang ◽  
Guodong Zhai ◽  
Zhongwen Yue ◽  
Tao Pan ◽  
Ran Cheng
Keyword(s):  
Open Source ◽  
Optimal Estimation ◽  
Calculation Model ◽  
The Body ◽  
Elastic Band ◽  
Visual Positioning ◽  
Localization And Mapping ◽  
Graph Optimization ◽  
Random Sample Consensus ◽  
Pose Graph Optimization

The autonomous positioning of tunneling equipment is the key to intellectualization and robotization of a tunneling face. In this paper, a method based on simultaneous localization and mapping (SLAM) to estimate the body pose of a roadheader and build a navigation map of a roadway is presented. In terms of pose estimation, an RGB-D camera is used to collect images, and a pose calculation model of a roadheader is established based on random sample consensus (RANSAC) and iterative closest point (ICP); constructing a pose graph optimization model with closed-loop constraints. An iterative equation based on Levenberg–Marquadt is derived-, which can achieve the optimal estimation of the body pose. In terms of mapping, LiDAR is used to experimentally construct the grid map based on open-source algorithms, such as Gmapping, Cartographer, Karto, and Hector. A point cloud map, octree map, and compound map are experimentally constructed based on the open-source library RTAB-MAP. By setting parameters, such as the expansion radius of an obstacle and the updating frequency of the map, a cost map for the navigation of a roadheader is established. Combined with algorithms, such as Dijskra and timed-elastic-band, simulation experiments show that the combination of octree map and cost map can support global path planning and local obstacle avoidance.

scholarly journals Integrated Robotic systems for Humanitarian Demining

10.5772/5694 ◽  
2007 ◽  
Vol 4 (2) ◽  
pp. 24 ◽  
Author(s):  
E. Colon ◽  
G. De Cubber ◽  
H. Ping ◽  
J-C Habumuremyi ◽  
H. Sahli ◽  
...  
Keyword(s):  
Data Acquisition ◽  
Lessons Learned ◽  
Mine Detection ◽  
Detection Systems ◽  
Visual Positioning ◽  
Humanitarian Demining ◽  
Typical Data ◽  
Terrain Following ◽  
Software Interfaces ◽  
Future Work

This paper summarises the main results of 10 years of research and development in Humanitarian Demining. The Hudem project focuses on mine detection systems and aims at provided different solutions to support the mine detection operations. Robots using different kind of locomotion systems have been designed and tested on dummy minefields. In order to control these robots, software interfaces, control algorithms, visual positioning and terrain following systems have also been developed. Typical data acquisition results obtained during trial campaigns with robots and data acquisition systems are reported. Lessons learned during the project and future work conclude this paper.

MORPHABLE BEAM DEVICE AND ITS VISUAL POSITIONING SYSTEM

2007 ◽  
Vol 40 (7) ◽  
pp. 871-876
Author(s):  
Thomas Iljic ◽  
Saburo Matunaga ◽  
Yohei Tanaka
Keyword(s):  
Positioning System ◽  
Visual Positioning

Multi-resolution Visual Positioning and Navigation Technique for Unmanned Aerial System Landing Assistance

2017 ◽  
Vol 70 (6) ◽  
pp. 1276-1292
Author(s):  
Chong Yu ◽  
Jiyuan Cai ◽  
Qingyu Chen
Keyword(s):  
Real World ◽  
State Of The Art ◽  
Unmanned Aerial System ◽  
Detection Accuracy ◽  
Relative Positioning ◽  
Positioning Accuracy ◽  
Visual Positioning ◽  
Positioning Technique ◽  
Technique Comparison ◽  
Resolution Simulation

To achieve more accurate navigation performance in the landing process, a multi-resolution visual positioning technique is proposed for landing assistance of an Unmanned Aerial System (UAS). This technique uses a captured image of an artificial landmark (e.g. barcode) to provide relative positioning information in the X, Y and Z axes, and yaw, roll and pitch orientations. A multi-resolution coding algorithm is designed to ensure the UAS will not lose the detection of the landing target due to limited visual angles or camera resolution. Simulation and real world experiments prove the performance of the proposed technique in positioning accuracy, detection accuracy, and navigation effect. Two types of UAS are used to verify the generalisation of the proposed technique. Comparison experiments to state-of-the-art techniques are also included with the results analysis.

scholarly journals Accurate Smartphone Indoor Visual Positioning Based on a High-Precision 3D Photorealistic Map

Sensors ◽  
2018 ◽  
Vol 18 (6) ◽  
pp. 1974 ◽  
Author(s):  
Teng Wu ◽  
Jingbin Liu ◽  
Zheng Li ◽  
Keke Liu ◽  
Beini Xu
Keyword(s):  
High Precision ◽  
Visual Positioning

Development of a calibrating algorithm for Delta Robot’s visual positioning based on artificial neural network

Optik ◽  
2016 ◽  
Vol 127 (20) ◽  
pp. 9095-9104 ◽  
Author(s):  
Wei Ding ◽  
Jinan Gu ◽  
Shixi Tang ◽  
Zhenyang Shang ◽  
Enock A. Duodu ◽  
...  
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Visual Positioning ◽  
Artificial Neural

Visual positioning method based on line laser 3D measurement system

2021 ◽  
Author(s):  
Zai Luo ◽  
Hongnan Zhao ◽  
Wensong Jiang ◽  
Zeliang Cai ◽  
Li Yang
Keyword(s):  
Measurement System ◽  
3D Measurement ◽  
Visual Positioning ◽  
Positioning Method ◽  
On Line ◽  
3D Measurement System

Visual Positioning of a Delta Robot

2013 ◽  
Author(s):  
Warin Poomarin ◽  
Kamol Chuengsatiansup ◽  
Ratchatin Chancharoen
Keyword(s):  
Visual Positioning ◽  
Delta Robot
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