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maaz's Projects

camera-calibration-and-planar-navigation-matlab icon camera-calibration-and-planar-navigation-matlab

A sample planar navigation graphical user interface GUI is made by using the checkerboard calibration. The GUI figure and work flowchart is given on the next page. The first part as usual is the initialization code. Then this is followed by the opening function, which initializes a GUI as it is opened in every GUIDE generated GUI code file. The data is stored in the handles structure, an argument provided to all callbacks. These callbacks for the push buttons (three in this GUI) can retrieve data from the handles structure. With the help of friend and colleague Usman Arif.

lep-hybrid-visual-odometry icon lep-hybrid-visual-odometry

We propose a novel real time monocular Hybrid visual odometry formulation which combines the high precision of indirect approaches with the fast performance of direct methods. The system initializes inverse depth estimates represented as a Gaussian probability distribution for features (lines, edges and points) extracted in each keyframe which we continuously propagate and update with new measurements in the following frames. The key idea is to incorporate the depth filter distributions into the initial pose tracking via sparse image alignment and also the pose refinement via map localization. We also propose a comprehensive initialization method of these depth filters and classify the map points into different categories based on the uncertainty of these depth estimates which as a result greatly improves the tracking performance. The experimental evaluation on benchmark datasets shows that the proposed approach is significantly faster than the state-of-the-art algorithms while achieving comparable accuracy. We make our implementation publically open source at github to provide as a valuable reference for the SLAM community.

rotation_extraction icon rotation_extraction

When using camera as an aiding sensor, extraction of accurate pose measurement in the form of translation and rotation is instrumental to the navigation solution. This paper shows the experimental results of accurate angle extraction between a sequence of images taken from a calibrated camera while keeping the scale constant. In this work, a comprehensive mathematical model for the translation and rotation extraction is discussed comprising of feature extraction and matching, epipolar geometry constraints, structure from motion (SFM), etc. The proposed algorithm has been effectively used to initialize map and showed to improve the pose estimation and tracking of the state of the art visual odometry algorithm by simulation over benchmark datasets. As far as the author’s knowledge, such a benchmarking for rotation extraction has not been previously reported and hence this algorithm can be used as a beginning point for new practitioners in the field of visual navigation.

uav-waypoint-guidance-matlab icon uav-waypoint-guidance-matlab

"4D TRAJECTORY GENERATION FOR GUIDANCE MODULE OF A UAV FOR A GATE TO GATE FLIGHT IN PRESENCE OF TURBULENCE", International Journal of Advanced Robotic Systems, 2016, DOI: 10.5772/64063. publication description: Robotic air vehicles are used increasingly in delivering goods especially for safety-of-life applications. This paper discusses a guidance module for trajectory generation of such vehicles. An offline algorithm is developed using a navigation model to produce the required trajectory in the form of time-tagged longitude, latitude and altitude. The process is an essential requirement when an operator has to program a robotic vehicle to travel on the desired course. This problem is addressed scarcely in the relevant literature. The waypoints are generated for all phases of flight and then modified to cater for the wind disturbance parameters obtained from current meteorological information. The waypoints are uploaded to the vehicle’s flight control system memory and reside there for the vehicle to follow. This paper also renders the generated trajectory on Google Earth® using Matlab/Simulink® to test the closed-loop performance. Furthermore, a Dryden wind model is utilized to generate a modified trajectory for turbulent conditions. An operator can make adjustments in the required initial heading angle so the vehicle lands at its destination even in turbulent weather. An empirical formula is also proposed for this purpose. Further work includes design of a control system to follow the generated waypoints.

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