We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global trajectory generation, especially when using narrow field of view sensors in very cluttered environments. In addition, details about other necessary parts of the system and special considerations for applications in real-world scenarios are presented. We focus our experiments on evaluating global planning, path smoothing, and local planning methods on real maps made on MAVs in realistic search and rescue and industrial inspection scenarios. We also perform thousands of simulations in cluttered synthetic environments, and finally validate the complete system in real-world experiments.
Finally, the system we propose is conceptually similar to the original system in our previous work @cite_22 . The core differences are that we improved every individual component, designed and evaluated a custom mapping system, and proposed a way to do local re-planning as well (whereas the previous work was only global planning). This makes the system proposed in this work much more robust and able to deal with changes in the environment.
@cite_22
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In this paper we present a prototype system for image based localization in urban environments. Given a database of views of city street scenes tagged by GPS locations, the system computes the GPS location of a novel query view. We first use a wide-baseline matching technique based on SIFT features to select the closest views in the database. Often due to a large change of viewpoint and presence of repetitive structures, a large percentage of matches (> 50 ) are not correct correspondences. The subsequent motion estimation between the query view and the reference view, is then handled by a novel and efficient robust estimation technique capable of dealing with large percentage of outliers. This stage is also accompanied by a model selection step among the fundamental matrix and the homography. Once the motion between the closest reference views is estimated, the location of the query view is then obtained by triangulation of translation directions. Approximate solutions for cases when triangulation cannot be obtained reliably are also described. The presented system is tested on the dataset used in ICCV 2005 Computer Vision Contest and is shown to have higher accuracy than previous reported results. In order to support driver assistance systems in unconstrained environments, we propose to extend local appearance-based road classification with a spatial feature generation and classification. Therefore, a hierarchical approach consisting of multiple low level base classifiers, the novel spatial feature generation, as well as a final road terrain classification, is used. The system perceives a variety of local properties of the environment by means of base classifiers operating on patches extracted from monocular camera images, each represented in a metric confidence map. The core of the proposed approach is the computation of spatial ray features (SPRAY) from these confidence maps. With this, the road-terrain classifier can decide based on local visual properties and their spatial layout in the scene. In order to show the feasibility of the approach, the extraction and evaluation of the metric ego-lane driving corridor on an inner city stream is demonstrated. This is a challenging task because on a local appearance level, ego-lane is not distinguishable from other asphalt parts on the road. However, by incorporating the proposed SPRAY features the distinction is possible without requiring an explicit lane model. Due to the parallel structure of this bottom-up approach, the implemented system operates in real-time with approximately 25 Hz on a GPU. Abstract Context For many years, we have observed industry struggling in defining a high quality requirements engineering (RE) and researchers trying to understand industrial expectations and problems. Although we are investigating the discipline with a plethora of empirical studies, they still do not allow for empirical generalisations. Objective To lay an empirical and externally valid foundation about the state of the practice in RE, we aim at a series of open and reproducible surveys that allow us to steer future research in a problem-driven manner. Method We designed a globally distributed family of surveys in joint collaborations with different researchers and completed the first run in Germany. The instrument is based on a theory in the form of a set of hypotheses inferred from our experiences and available studies. We test each hypothesis in our theory and identify further candidates to extend the theory by correlation and Grounded Theory analysis. Results In this article, we report on the design of the family of surveys, its underlying theory, and the full results obtained from Germany with participants from 58 companies. The results reveal, for example, a tendency to improve RE via internally defined qualitative methods rather than relying on normative approaches like CMMI. We also discovered various RE problems that are statistically significant in practice. For instance, we could corroborate communication flaws or moving targets as problems in practice. Our results are not yet fully representative but already give first insights into current practices and problems in RE, and they allow us to draw lessons learnt for future replications. Conclusion Our results obtained from this first run in Germany make us confident that the survey design and instrument are well-suited to be replicated and, thereby, to create a generalisable empirical basis of RE in practice. In order to enable microaerial vehicles (MAVs) to assist in complex, unknown, unstructured environments, they must be able to navigate with guaranteed safety, even when faced with a cluttered environment they have no prior knowledge of. While trajectory-optimization-based local planners have been shown to perform well in these cases, prior work either does not address how to deal with local minima in the optimization problem or solves it by using an optimistic global planner. We present a conservative trajectory-optimization-based local planner, coupled with a local exploration strategy that selects intermediate goals. We perform extensive simulations to show that this system performs better than the standard approach of using an optimistic global planner and also outperforms doing a single exploration step when the local planner is stuck. The method is validated through experiments in a variety of highly cluttered environments including a dense forest. These experiments show the complete system running in real time fully onboard an MAV, mapping and replanning at 4 Hz.