Localization and 3D Reconstruction

Preliminary work on mapping in Visually-degraded Environments

These are preliminary results on exploration and mapping inside a tunnel with approximate dimensions of WIDTHxHEIGHTxLENGTH = 3x4x30m. The robot navigated along half of it (approximately) and our team evaluated the capability of localization and mapping using NIR camera/IMU, as well as Laser Time-of-Flight sensors.​

Autonomous Robotic Aerial Tracking, Avoidance, and Seeking of a Mobile Human Subject

This work is presented at ISVC 2015 and refers to the problem of autonomous aerial robot localization and 3D mapping of the environment, within which it performs target detection and following. 

LiDAR-Visual-Inertial Fused Mapping for Cars - Preliminary Result - UNR Garage 

This is a preliminary result with a system consisting of a Velodyne PuckLITE, a Stereo camera and an Inertial Measurement Unit. The data are processed through 2 pipelines, namely LiDAR odometry and visual-inertial odometry. The final result is fused through an EKF and direct IMU feeds. This map presents the depth data from the combination of the LiDAR and the stereo camera system. For the camera system a pruning distance of 2m is set. 

LiDAR-Visual-Inertial Localization & Mapping for Cars - Preliminary Result - Reno@Night ​

This is a preliminary result with a system consisting of a Velodyne PuckLITE, a Stereo camera and an Inertial Measurement Unit. The data are processed through 2 pipelines, namely LiDAR odometry and visual-inertial odometry. The final result is fused through an EKF and direct IMU feeds. This map presents only the LiDAR data.
Relevant publications:
  • C. Papachristos, D. Tzoumanikas, K. Alexis, A. Tzes, "Autonomous Robotic Aerial Tracking, Avoidance, and Seeking of a Mobile Human Subject", International Symposium of Visual Computing (ISVC) 2015, 2015, Las Vegas, US