Universität Bonn: Autonomous Intelligent Systems Group   Computer Science Institute VI: Autonomous Intelligent Systems

FOR 1505 Mapping on Demand: Local Perception and 3D Navigation

MoD Kopter      MoD-Kopter

Within the DFG Research Unit FOR 1505 "Mapping on Demand", two projects are carried out in the Autonomous Intelligent Systems Group:

Partners in this research unit are Prof. Wolfgang Förstner (speaker), Prof. Heiner Kuhlmann, Prof. Reinhard Klein, Prof. Daniel Cremers, and Prof. Lutz Plümer.

Laser-based 3D map of the environment

                                                                                                                       MP4 version of the video.


                                                                                                                      WMV version of the video.

Publications

Nicola Krombach, David Droeschel, and Sven Behnke:
Combining Feature-based and Direct Methods for Semi-dense Real-time Stereo Visual Odometry
Accepted for 14th International Conference on Intelligent Autonomous Systems (IAS), Shanghai, China, to appear July 2016.

Marius Beul and Sven Behnke:
Analytical Time-optimal Trajectory Generation and Control for Multirotors
Accepted for International Conference on Unmanned Aircraft Systems (ICUAS), Arlington, VA, USA, to appear June 2016.
[Video]

Dirk Holz, Alexandru-Eugen Ichim, Federico Tombari, Radu B. Rusu, and Sven Behnke:
Registration with the Point Cloud Library - A Modular Framework for Aligning in 3-D
IEEE Robotics and Automation Magazine, 22(4):110-124, December 2015.

Matthias Nieuwenhuisen, David Droeschel, Marius Beul, and Sven Behnke:
Autonomous Navigation for Micro Aerial Vehicles in Complex GNSS-denied Environments
Journal of Intelligent and Robotic Systems, Springer, available online, 2015.

Matthias Nieuwenhuisen, David Droeschel, Marius Beul, and Sven Behnke:
Autonomous MAV Navigation in Complex GNSS-denied 3D Environments
In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Purdue University, West Lafayette, USA, October 2015

Dirk Holz and Sven Behnke:
Registration of Non-Uniform Density 3D Laser Scans for Mapping with Micro Aerial Vehicles
Robotics and Autonomous Systems, vol. 74, pp. 318-330, Elsevier, December 2015.

Jan Razlaw, David Droeschel, Dirk Holz, and Sven Behnke:
Evaluation of Registration Methods for Sparse 3D Laser Scans
In Proceedings of European Conference on Mobile Robots (ECMR), Lincoln, UK, September 2015.

Matthias Nieuwenhuisen and Sven Behnke:
3D Planning and Trajectory Optimization for Real-time Generation of Smooth MAV Trajectories
In Proceedings of European Conference on Mobile Robots (ECMR), Lincoln, UK, September 2015.

Nicola Krombach, David Droeschel and Sven Behnke:
Evaluation of Stereo Algorithms for Obstacle Detection with Fisheye Lenses
In Procedings of 3rd International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g), Toronto, Canada, August 2015. 

Marius Beul, Nicola Krombach, Yongfeng Zhong, David Droeschel, Matthias Nieuwenhuisen, and Sven Behnke:
A High-performance MAV for Autonomous Navigation in Complex 3D Environments
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Denver, USA, June 2015.

David Droeschel, Matthias Nieuwenhuisen, Marius Beul, Dirk Holz, Jörg Stückler, and Sven Behnke:
Multi-Layered Mapping and Navigation for Autonomous Micro Aerial Vehicles
Journal of Field Robotics, Wiley, published online, 2015.

David Droeschel, Dirk Holz, and Sven Behnke:
Omnidirectional Perception for Lightweight MAVs using a Continously Rotating 3D Laser Scanner
Photogrammetrie Fernerkundung Geoinformation (PFG), volume 5, pp. 451-464, 2014.

David Droeschel, Jörg Stückler, and Sven Behnke:
Local Multi-Resolution Surfel Grids for MAV Motion Estimation and 3D Mapping
In Proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS), Padova, Italy, July 2014.

Matthias Nieuwenhuisen and Sven Behnke:
Layered Mission and Path Planning for MAV Navigation with Partial Environment Knowledge
In Proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS), Padova, Italy, July 2014.

Dirk Holz and Sven Behnke:
Mapping with Micro Aerial Vehicles by Registration of Sparse 3D Laser Scans
In Proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS), Padova, Italy, July 2014. 

Matthias Nieuwenhuisen and Sven Behnke:
Hierarchical Planning with 3D Local Multiresolution Obstacle Avoidance for Micro Aerial Vehicles
In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, June 2014.

David Droeschel and Sven Behnke:
3D Local Multiresolution Grid for Aggregation of Omnidirectional Distance Measurements on a Micro Aerial Vehicle
In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, June 2014.

Dirk Holz and Sven Behnke:
Registration of Non-Uniform Density 3D Point Clouds using Approximate Surface Reconstruction
In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, June 2014.

Marius Beul, Rainer Worst, and Sven Behnke:
Nonlinear Model-based Position Control for Quadrotor UAVs
In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, June 2014.

David Droeschel, Jörg Stückler, and Sven Behnke:
Local Multiresolution Representation for 6D Motion Estimation and Mapping with a Continuously Rotating 3D Laser Scanner
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, May 2014.

Matthias Nieuwenhuisen, Marius Beul, David Droeschel, and Sven Behnke:
Obstacle Detection and Navigation Planning for Autonomous Micro Aerial Vehicles
In Proceedings of  International Conference on Unmanned Aircraft Systems (ICUAS), Orlando, USA, May 2014.

Lasse Klingbeil, Matthias Nieuwenhuisen, Johannes Schneider, Christian Eling, David Droeschel, Dirk Holz, Thomas Läbe, Wolfgang Förstner, Sven Behnke, and Heiner Kuhlmann:
Towards Autonomous Navigation of an UAV-based Mobile Mapping System
In Proceedings of 4th International Conference on Machine Control & Guidance (MCG), Braunschweig, March 2014.

Matthias Nieuwenhuisen, David Droeschel, Johannes Schneider,Dirk Holz, Thomas Läbe, and Sven Behnke:
Multimodal Obstacle Detection and Collision Avoidance for Micro Aerial Vehicles
In Proceedings of 6th European Conference on Mobile Robots (ECMR), Barcelona, Spain, September 2013.

Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Michael Schreiber and Sven Behnke:
Towards Multimodal Omnidirectional Obstacle Detection for Autonomous Unmanned Aerial Vehicles
In Proceedings of International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g), Rostock, Germany, September 2013.

Matthias Nieuwenhuisen, Mark Schadler, and Sven Behnke:
Predictive Potential Field-based Collision Avoidance for Multicopters
In Proceedings of International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g), Rostock, Germany, September 2013.

David Droeschel, Michael Schreiber, and Sven Behnke:
Omnidirectional Perception for Lightweight UAVs Using a Continuous Rotating Laser Scanner
In Proceedings of International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g), Rostock, Germany, September 2013.

Matthias Nieuwenhuisen, David Droeschel, Dirk Holz, and Sven Behnke:
Omnidirectional Obstacle Perception and Collision Avoidance for Micro Aerial Vehicles
In 2nd Workshop on Resource-Efficient Integration of Perception, Control, and Navigation for Micro Air Vehicles, Robotics: Science and Systems Conference, June 2013.


                                                                                                                        MP4 version of the video.

Related Project

InventAIRy - Identification with Autonomous Micro Aerial Vehicles

InvetAIRy Bonn Test Copter

Universität Bonn, Institute for Computer Science, Departments: I, II, III, IV, V, VI