Michael Watterson
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View article: The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots
The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots Open
In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a system that would be suitable for relatively small-scale flyin…
View article: The Open Vision Computer: An Integrated Sensing and Compute System for\n Mobile Robots
The Open Vision Computer: An Integrated Sensing and Compute System for\n Mobile Robots Open
In this paper we describe the Open Vision Computer (OVC) which was designed\nto support high speed, vision guided autonomous drone flight. In particular our\naim was to develop a system that would be suitable for relatively small-scale\nfl…
View article: Trajectory Optimization On Manifolds with Applications to SO(3) and R3XS2
Trajectory Optimization On Manifolds with Applications to SO(3) and R3XS2 Open
Manifolds are used in almost all robotics applications even if they are not explicitly modeled.We propose a differential geometric approach for optimizing trajectories on a Riemannian manifold with obstacles.The optimization problem depend…
View article: Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight
Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight Open
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small …
View article: Fast, autonomous flight in GPS‐denied and cluttered environments
Fast, autonomous flight in GPS‐denied and cluttered environments Open
One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a priori knowledge of the operating environment. Thi…
View article: Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight Open
In recent years, vision-aided inertial odometry for state estimation has matured significantly. However, we still encounter challenges in terms of improving the computational efficiency and robustness of the underlying algorithms for appli…