Paper information:
C. Papachristos, K. Alexis, "Augmented Reality–enhanced Structural Inspection using Aerial Robots", IEEE Multi-Conference on Systems and Control 2016 Buenos Aires, Argentina, September 19-22, 2016
Below our relevant video:
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Our work on augmented reality-enhanced inspection just got accepted at the IEEE Multi-Conference on Systems and Control 2016. Paper information: C. Papachristos, K. Alexis, "Augmented Reality–enhanced Structural Inspection using Aerial Robots", IEEE Multi-Conference on Systems and Control 2016 Buenos Aires, Argentina, September 19-22, 2016 Below our relevant video:
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Our lab will be providing the following presentation with title "Striving for Robots Autonomy"
Below our lab presentation at ICUAS 2016. A first dataset using a passenger car integrating the Velodyne VLP16 LiDAR unit, a stereo camera solution based on the oCam : 5MP USB 3.0 Camera and the myAHRS inertial measurement unit. Below a few screenshots and video segments running the CMU Laser Odometry And Mapping. The dataset will soon be released publicly. Below, instances of the tests: Area of the experiment Highlight-results presented in this post Result of mapping of the West Stadium parking second floor. Screenshot: Video: Navigation around the UNR campus - Virginia and Evans Str. Screenshot: Video: Zoomed instance:
We are glad to announce the open-source release of the Motion Analysis Cortex Mocap system ROS Bridge. The code can be found in our open repository: https://github.com/unr-arl/cortex_ros_bridge
Below a screenshot from the tracked body at RVIZ Back from ICRA 2016. Below the presentations from the papers I have co-authored with my students, a presentation for the iEEE-SIGHT and the workshop on Aerial Manipulation. Paper on Autonomous Exploration using Aerial Robots Relevant video: Paper on Autonomous Transition Control Relevant video: Presentation for the Aerial Manipulation workshop Presentation for IEEE-RAS-SIGHT It was about time - although it took a while to initiate fixed-wing UAV research in a new place. Through four talented undergraduate students (Murillo B, Brandon T, Jason R, Matt B) and a pilot (Phillip T) a platform for fixed-wing related research was developed. The system is designed around the Skywalker X8 platform (2.1m wingspan) and integrates a Pixhawk autopilot with IMU/Baro/GPS/Airspeed sensing), a high-level Intel i5 Processor and camera systems to further enable autonomy research. This flight was not autonomous and the goal was to simply verify avionics, high level processing, telemetry and the overall vehicle behavior. But autonomy is on its way! Below some further photos and a video of this first short flight. In this work we present a methodology for augmented reality-enhanced structural inspection using aerial robots. `
The aerial robot is computing an optimized, full coverage path given a prior model of the structure. However, as the prior models are expected to be inaccurate, outdated or generally not capturing important details (such as human-readable data), an augmented reality interface is employed to enable the human operator to command new viewpoints through appropriate head motions. To assist the operator to identify the subsets of the structure that need further inspection, we stream both the stereo views as well as the real-time dense reconstruction of the environment taking place on-board the robot. The augmented reality interface is based on an Android phone and a cardboard-like virtual reality device. Head motion is used to command new viewpoints in the xyz-space while the robot ensures that the initial viewpoints are also visited. The aerial robot operates autonomously in a GPS-denied environment without the support of motion capture. A few printed markers were added for safety as the test took place in a dark environment (and we just built this robot!). More to come soon! Tool for the initial inspection path using a prior model of the wattmeter structure: Our paper:
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Kostas AlexisI try to post basic updates here! Before August 2015, all posts appear to have happened the same day. This is due to moving my website. Archives
April 2017
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