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  • Real-time Aerial and Ground-based Collaborative Mapping

    2,134 views 9 months ago
    Video presents aerial and ground-based collaborative mapping powered by Kaarta's latest laser-visual-inertial odometry and mapping technology. Ground-based mapping is conducted by an operator holding sensor/computer device and walking around Newell-Simon Hall on CMU campus for 10 minutes. The device is then mounted to a drone and flies over the building for 3 minutes to cover the roof. All processing is real-time onboard the device. No post-processing involved.

    Paper references:
    J. Zhang and S. Singh. Aerial and Ground-based Collaborative Mapping: An Experimental Study. The 11th Intl. Conf. on Field and Service Robotics (FSR). Zurich, Switzerland, Sept. 2017.
    J. Zhang and S. Singh. Enabling Aggressive Motion Estimation at Low-drift and Accurate Mapping in Real-time. IEEE Intl. Conf. on Robotics and Automation (ICRA). Singapore, May 2017.
    J. Zhang and S. Singh. Low-drift and Real-time Lidar Odometry and Mapping. Autonomous Robots. vol. 41, no. 2, pp. 401–416, 2017.
    J. Zhang, M. Kaess and S. Singh. A Real-time Method for Depth Enhanced Visual Odometry. Autonomous Robots. vol. 41, no. 1, pp. 31–43, 2017.

    Author's homepage:
    http://www.frc.ri.cmu.edu/~... Show less
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