AVL is has experience using a varied of vision based sensors including RGB-D camera, event cameras to solve the problem of GPS denied autonomy for both an indoor and outdoor environment. Our lab uses generally used visual odometry as part of a larger navigation stack and have generated our own in-house generic VO algorithm. Additionally, we have extensively explored the problem of uncertainty quantification in VO algorithms to improve filter consistency as part of this work.

Publications

Zhang, Jincheng, Prashant Ganesh, Kyle Volle, Andrew Willis, and Kevin Brink. “Low-Bandwidth and Compute-Bound RGB-D Planar Semantic SLAM.” Sensors 21, no. 16 (2021): 5400.

Ganesh, Prashant, Kyle Volle, Andrew R. Willis, and Kevin M. Brink. “Three Flavors of RGB-D Visual Odometry: Analysis of cost function compromises and covariance estimation accuracy.” In 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), pp. 1587-1595. IEEE, 2020.

Anderson, Michael L., Kevin M. Brink, and Andrew R. Willis. “Real-time visual odometry covariance estimation for unmanned air vehicle navigation.” Journal of Guidance, Control, and Dynamics 42, no. 6 (2019): 1272-1288.

Depaola, Richard, Charles Chimento, Michael L. Anderson, Kevin Brink, and Andrew Willis. “UAV Navigation with Computer Vision–Flight Testing a Novel Visual Odometry Technique.” In 2018 AIAA Guidance, Navigation, and Control Conference, p. 2102. 2018.

Willis, Andrew R., John Papadakis, and Kevin M. Brink. “Linear depth reconstruction for RGBD sensors.” In SoutheastCon 2017, pp. 1-7. IEEE, 2017.

Willis, Andrew R., and Kevin M. Brink. “iGRaND: an invariant frame for RGBD sensor feature detection and descriptor extraction with applications.” In Three-Dimensional Imaging, Visualization, and Display 2016, vol. 9867, p. 98670P. International Society for Optics and Photonics, 2016.

Willis, Andrew R., and Kevin M. Brink. “Real-time geometric scene estimation for RGBD images using a 3D box shape grammar.” In Three-Dimensional Imaging, Visualization, and Display 2016, vol. 9867, p. 986709. International Society for Optics and Photonics, 2016.

Willis, Andrew R., Laith R. Sahawneh, and Kevin M. Brink. “Benchmarking real-time RGBD odometry for light-duty UAVs.” In Three-Dimensional Imaging, Visualization, and Display 2016, vol. 9867, p. 98670O. International Society for Optics and Photonics, 2016.