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Computer Vision Group
TUM Department of Informatics
Technical University of Munich

Technical University of Munich

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Informatik IX
Chair of Computer Vision & Artificial Intelligence

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

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CVG Group DVL Group

News

02.10.2020

We have five papers accepted to 3DV 2020!

30.09.2020

Our effcient deep network architectures form the AI engine of the project Slow Down COVID-19 at Harvard.

24.07.2020

Our practical course "Vision-based Navigation" (WS18, SS19) by Dr. Vladyslav Usenko and Nikolaus Demmel was honored as best practical course in the academic year 2018/2019 by the department for Informatics.

07.05.2020

We are organizing a workshop on Map-based Localization for Autonomous Driving at ECCV 2020, Glasgow, UK.

13.04.2020

Daniel Cremers received an ERC Advanced Grant (3.5 Mio Euro) for pioneering frontier research from the European Research Council. This constitutes his fifth ERC grant.

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Nanocopters

Contact: Jakob Engel, Jörg Stückler

In this research project we will explore visual navigation methods for Nanocopters, extremely small Quadrocopter with a flight-weight of less than 50g. Possible future applications are e.g. exploration of a collapsed building after a natural desaster, surveillance and inspection of difficult-to-reach areas, or simply as personal flying camera, to take pictures from a fully new perspective. In contrast to regular quadrocopters with a flight-weight of above 500g, nanocopters can safely be used indoors and close to people, can fly through even smaller gaps or windows, and - acting fully atonomously - can easily be deployed as a swarm.

The extraoridnarily small payload of such platforms poses new challenges, in particular as it imposes heavy constraints on the on-board sensor capabilities. Monocular nano-cameras - being lightweight, cheap and small, while at the same time providing rich information about the environment - are an ideal choice. In this project we will focus on off-board computations, i.e., perform costly computations on a ground-based laptop.

The aim of this research project is two-fold:

  • Develop suitable hardware prototypes (nanocopter + nano-camera), and corresponding software interfaces to facilitate visual navigation with off-board computation
  • Adapt and develop monocular visual navigation / SLAM methods suited for the high agility and comparatively low sensor quality of such a system.

This project is embedded in and supported by the Software Campus.

Code

We provide some open-source code for the Crazyflie; for more details see the corresponding paper (see below). The Code is on GitHub

Publications


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Conference and Workshop Papers
2014
[]Visual-Inertial Navigation for a Camera-Equipped 25g Nano-Quadrotor (O. Dunkley, J. Engel, J. Sturm and D. Cremers), In IROS2014 Aerial Open Source Robotics Workshop, 2014.  [bibtex] [pdf] [video]
Other Publications
2014
[]Visual Inertial Control of a Nano-Quadrotor (OMW Dunkley), Master's thesis, Technical University Munich, 2014.  [bibtex] [pdf]
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Informatik IX
Chair of Computer Vision & Artificial Intelligence

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

Follow us on:
CVG Group DVL Group

News

02.10.2020

We have five papers accepted to 3DV 2020!

30.09.2020

Our effcient deep network architectures form the AI engine of the project Slow Down COVID-19 at Harvard.

24.07.2020

Our practical course "Vision-based Navigation" (WS18, SS19) by Dr. Vladyslav Usenko and Nikolaus Demmel was honored as best practical course in the academic year 2018/2019 by the department for Informatics.

07.05.2020

We are organizing a workshop on Map-based Localization for Autonomous Driving at ECCV 2020, Glasgow, UK.

13.04.2020

Daniel Cremers received an ERC Advanced Grant (3.5 Mio Euro) for pioneering frontier research from the European Research Council. This constitutes his fifth ERC grant.

More