Real-time visual-inertial mapping, re-localization and planning onboard MAVs in unknown environments.
Michael BurriHelen OleynikovaMarkus W. AchtelikRoland SiegwartPublished in: IROS (2015)
Keyphrases
- unknown environments
- real time
- mobile robot
- outdoor environments
- simultaneous localization and mapping
- free space
- inertial sensors
- autonomous robots
- visual information
- kalman filter
- control system
- motion planning
- obstacle avoidance
- path planning
- indoor environments
- multiple robots
- map building
- dynamic model
- mobile agents
- dynamic environments
- reinforcement learning