This paper presents a combined perception systems and planning algorithms approach to the problem of autonomous aerial robotic navigation and exploration in degraded visual (dark) GPS-denied environments. A perception system that comprises of a synchronized near-infrared stereo camera system, flashing LEDs, inertial sensors and a 3D depth sensor is utilized in order to derive visual-inertial odometry and dense mapping in conditions of complete darkness. Exploiting this ability within the framework of a localizability-aware receding horizon exploration and mapping planner, the proposed approach ensures robotic autonomy in dark environments for which no prior knowledge exists. A set of experimental studies in a dark room of complex geometry, as well as a city tunnel at night were conducted to evaluate and verify the abilities of the system and the proposed solution.


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    Title :

    Autonomous exploration of visually-degraded environments using aerial robots


    Contributors:


    Publication date :

    2017-06-01


    Size :

    2873870 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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