Combined Visual and Inertial Navigation for an Unmanned Aerial无人机结合的视觉和惯性导航.ppt

/16 USC Robotic Embedded Systems Lab Just Add Wheels: Leveraging Commodity Laptop Hardware for Robotics Education Jonathan Kelly, Jonathan Binney, Arvind Pereira, Omair Khan and Gaurav S. Sukhatme Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Sunday, July 13, 2008 * Introduction We propose using commodity laptop hardware for robotics education. We motivate the approach by discussing relevant studies and statistics. We then describe our prototype laptop robot, including software based on the open source Player-Stage package. We present results from monocular SLAM and bump detection experiments, using laptop sensors. Talk Outline Introduction Motivation Leveraging Laptop Hardware for Education The “LapBot”, a Prototype Laptop Robot Monocular SLAM Bump Sensing Conclusions and Future Work * Motivation Robotics projects are fun and exciting – excellent for learning about physics, math, computer science etc. Can be used to motivate students who may not otherwise choose to pursue Science or Engineering (Blank 2006). Numerous barriers to widespread adoption of robotics curriculum, however, at both college and K-12 levels. Include lack of teacher training, suitable educational resources, and affordable robot platforms (Mataric et al. 2007). * Leveraging Laptop Hardware How can we both interest students in robotics, and get them involved at reasonably low cost? Need mobility, sensor and software components. Idea: Leverage sensors and computing power inside the laptops that they already own. 2007 ECAR survey: 73.7% of college students now own laptops. Cameras already available in many models, accelerometers on some (Acer, Apple, IBM). * Our Approach Explore the idea of using student-owned laptops as capable robot platforms. Use on-board hardware (e.g. camera, accelerometer etc.) for sensing and computing. “Just add wheels”, i.e. a motorized base, for mobility. Develop an open source software platform, freely availabl