Research


MonoSLAM snapshot

The task of estimating sensor motion from measurements of a continuously expanding set of self-mapped features is known as Simultaneous Localisation And Mapping (SLAM). It has recently been shown that SLAM techniques can be successfully applied to estimate the ego-motion of a single agile camera in real-time by building a sparse map of visual features on the fly. My work is focused on applying principles of Information Theory to improve the robustness and efficiency of SLAM techniques, and also erestigation of algorithms for real-time operation on platforms with limited processing power.


For a brief introduction to visual SLAM and the basic principle of Active Matching, have a look at these notes.


Publications

 

ONLY LOOK ONCE, MINING DISTINCTIVE LANDMARKS FROM CONVNET FOR VISUAL PLACE RECOGNITION

Zetao Chen, Fabiola Maffra, Inkyu Sa and Margarita Chli, "Only look once, mining distinctive landmarks from ConvNet for visual place recognition", in Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), 2017.

{PDF, video, bibtex }


 

REAL-TIME LOCAL 3D RECONSTRUCTION FOR AERIAL INSPECTION USING SUPERPIXEL EXPANSION


Lucas Teixeira and Margarita Chli, "Real-time Local 3D Reconstruction for Aerial Inspection using Superpixel Expansion", in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017.

{PDF, video, bibtex }


 

ROBUST VISUAL-INERTIAL LOCALIZATION WITH WEAK GPS PRIORS FOR REPETITIVE UAV FLIGHTS


Julian Surber, Lucas Teixeira and Margarita Chli, "Robust Visual-Inertial Localization with Weak GPS Priors for Repetitive UAV Flights", in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017.

{PDF, video, bibtex }


 

MULTI-UAV COLLABORATIVE MONOCULAR SLAM


Patrik Schmuck and Margarita Chli, "Multi-UAV Collaborative Monocular SLAM", in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017.

{PDF, video, bibtex }



 

AUTONOMOUS NAVIGATION OF HEXAPOD ROBOTS WITH VISION-BASED CONTROLLER ADAPTATION


Marko Bjelonic, Timon Homberger, Navinda Kottege, Paulo Borges, Margarita Chli and Philipp Beckerle, "Autonomous Navigation of Hexapod Robots with Vision-based Controlled Adaptation", in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017.

{PDF, video, bibtex }


 

SHORT-TERM UAV PATH-PLANNING WITH MONOCULAR-INERTIAL SLAM IN THE LOOP


Ignacio Alzugaray, Lucas Teixeira and Margarita Chli, "Short-term UAV Path-Planning with Monocular-Inertial SLAM in the Loop", in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017.

{PDF, video, bibtex }


 

REAL-TIME DENSE SURFACE RECONSTRUCTION FOR AERIAL MANIPULATION


Marco Karrer, Mina Kamel, Roland Siegwart and Margarita Chli, "Real-time Dense Surface Reconstruction for Aerial Manipulation", in Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), 2016.

{PDF, video, V4RL dense reconstruction dataset, bibtex }


 

REAL-TIME MESH-BASED SCENE ESTIMATION FOR AERIAL INSPECTION


Lucas Teixeira and Margarita Chli, "Real-Time Mesh-based Scene Estimation for Aerial Inspection", in Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), 2016.

{PDF, video, V4RL aerial inspection dataset, Software for real-time mesh-based scene estimation, bibtex }


 

LOCATION GRAPHS FOR VISUAL PLACE RECOGNITION


Elena Stumm, Christopher Mei, Simon Lacroix and Margarita Chli, "Location Graphs for Visual Place Recognition", in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2015.

{PDF, bibtex }


 

VISION-CONTROLLED MICRO FLYING ROBOTS: FROM SYSTEM DESIGN TO AUTONOMOUS NAVIGATION AND MAPPING IN GPS-DENIED ENVIRONMENTS

Markus W. Achtelik, Simon Lynen, Stephan Weiss, Margarita Chli and Roland Siegwart, "Vision-Controlled Micro Flying Robots: from System Design to Autonomous Navigation and Mapping in GPS-denied Environments ", in Proceedings of the IEEE Robotics and Automation Magazine (RAM), in press, 2014.

{PDF, link, bibtex }



 

MOTION AND UNCERTAINTY AWARE PATH PLANNING FOR MICRO AERIAL VEHICLES

Markus W. Achtelik, Simon Lynen, Stephan Weiss, Margarita Chli and Roland Siegwart, "Motion and Uncertainty Aware Path Planning for Micro Aerial Vehicles", in Proceedings of the Journal of Field Robotics (JFR), 31(4): 676-698. doi: 10.1002/rob.21522, 2014.

{PDF, bibtex }


 

PEOPLE DETECTION AND TRACKING FROM AERIAL THERMAL VIEWS

Jan Portmann, Simon Lynen, Margarita Chli and Roland Siegwart, "People Detection and Tracking from Aerial Thermal Views", in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2014.

{video, PDF, bibtex }


 

A ROBUST AND MODULAR MULTI-SENSOR FUSION APPROACH APPLIED TO MAV NAVIGATION

Simon Lynen, Markus W. Achtelik, Stephan Weiss, Margarita Chli and Roland Siegwart, "A robust and modular Multi-Sensor Fusion approach applied to MAV Navigation", in Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), 2013.

{video, PDF, bibtex }



 

INVERSION BASED DIRECT POSITION CONTROL AND TRAJECTORY FOLLOWING FOR MICRO AERIAL VEHICLES

Markus W. Achtelik, Simon Lynen, Margarita Chli and Roland Siegwart, "Inversion based Direct Position Control and Trajectory Following for Micro Aerial Vehicles", in Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), 2013.

{video, PDF, bibtex }



 

MONOCULAR VISION FOR LONG-TERM MICRO AERIAL VEHICLE STATE ESTIMATION: A COMPENDIUM

Stephan Weiss, Markus W. Achtelik, Simon Lynen, Michael C. Achtelik, Laurent Kneip, Margarita Chli, Roland Siegwart "Monocular Vision for long-term Micro Aerial Vehicle State Estimation: A Compendium", in Proceedings Journal of Field Robotics (JFR), 30(5): 803-831. doi: 10.1002/rob.21466, 2013.

{PDF, bibtex }


 

KEYFRAME-BASED VISUAL-INERTIAL SLAM USING NONLINEAR OPTIMIZATION

Stefan Leutenegger, Paul Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige and Roland Siegwart, "Keyframe-based Visual-Inertial SLAM using Nonlinear Optimization", in Proceedings of Robotis Science and Systems (RSS) 2013.

{video, PDF, bibtex }



 

PATH PLANNING FOR MOTION DEPENDENT STATE ESTIMATION ON MICRO AERIAL VEHICLES

Markus W. Achtelik, Stephan Weiss, Margarita Chli and Roland Siegwart, "Path Planning for Motion Dependent State Estimation on Micro Aerial Vehicles", in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2013.

{PDF, bibtex }


 

VISUAL-INERTIAL SLAM FOR A SMALL HELICOPTER IN LARGE OUTDOOR ENVIRONMENTS

Markus W. Achtelik, Simon Lynen, Stephan Weiss, Laurent Kneip, Margarita Chli and Roland Siegwart, "怩isual-Inertial SLAM for a Small Helicopter In Large Outdoor Environments", in Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), 2012.

{video, PDF, bibtex }



 

sFLY: SWARM OF MICRO FLYING ROBOTS

Finalist for the best video award

M. W. Achtelik, M. C. Achtelik, M. Chli, S. Chatzichristofis, F. Fraundorfer, K.-M. Doth, L. Kneip, D. Gurdan, L. Heng, E. Kosmatopoulos, L. Doitsidis, G. H. Lee, S. Lynen, A. Martinelli, L. Meier, M. Pollefeys, A. Renzaglia, D. Scaramuzza, R. Siegwart, J. C. Stumpf, P. Tanskanen, C. Troiani and S. Weiss, "sFly: Swarm of Micro Flying Robots", in Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS) 2012.

{video, PDF, bibtex }

 

VISION-BASED MAV NAVIGATION: IMPLEMENTATION CHALLENGES TOWARDS A USABLE SYSTEM IN REAL-LIFE SCENARIOS

Markus W. Achtelik, Stephan Weiss, Simon Lynen, Margarita Chli and Roland Siegwart, "Vision-based MAV Navigation: Implementation Challenges Towards a Usable System in Real-Life Scenarios", in Workshop on Integration of perception with control and navigation for resource-limited, highly dynamic, autonomous systems, in Robotics: Science and Systems (RSS) 2012.

{PDF, bibtex }

 

REAL-TIME ONBOARD VISUAL-INERTIAL STATE ESTIMATION AND SELF-CALIBRATION OF MAVs IN UNKNOWN ENVIRONMENTS

Finalist for the best vision paper award

Stephan Weiss, Markus W. Achtelik, Simon Lynen, Margarita Chli and Roland Siegwart, "Real-time onboard Visual-Inertial state estimation and self-calibration of MAVs in unknown environments", in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2012.

{PDF, bibtex }

 

VERSATILE DISTRIBUTED POSE ESTIMATION AND SENSOR SELF-CALIBRATION FOR AN AUTONOMOUS MAV


Stephan Weiss. Markus W. Achtelik, Margarita Chli and Roland Siegwart, "Versatile Distributed Pose Estimation and Sensor Self-Calibration for an Autonomous MAV", in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2012.

{video, PDF, bibtex }

 

BRISK: BINARY ROBUST INVARIANT SCALABLE KEYPOINTS

BRISK

Stefan Leutenegger, Margarita Chli and Roland Siegwart, "BRISK: Binary Robust Invariant Scalable Keypoints", in Proceedings of the IEEE International Conference on Computer Vision (ICCV) 2011.


{video 1,video 2, PDF, CODE, bibtex }


 

ROBUST REAL-TIME VISUAL ODOMETRY WITH A SINGLE CAMERA AND AN IMU

Robust real-time VO

Laurent Kneip, Margarita Chli and Roland Siegwart, "Robust Real-time Visual Odometry with a Single Camera and an IMU", in Proceedings of British Machine Vision Conference (BMVC) 2011.


{PDF, video, bibtex }


 

COLLABORATIVE STEREO

Collaborative Stereo

Markus Achtelik, Stephan Weiss, Margarita Chli, Frank Dellaert and Roland Siegwart, "Collaborative Stereo", in Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS) 2011.


{PDF,bibtex }


 

SCALABLE ACTIVE MATCHING

Scalable Active Matching

Ankur Handa, Margarita Chli, Hauke Strasdat and Andrew J. Davison, "Scalable Active Matching", in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2010.


{PDF, video,poster,bibtex }


 

APPLYING INFORMATION THEORY TO EFFICIENT SLAM

Thesis snapshot

Margarita Chli, "Applying Information Theory to Efficient SLAM", PhD Thesis, Imperial College London, 2009.


{PDF, bibtex, BMVA archive }


 

ACTIVE MATCHING FOR VISUAL TRACKING

AM vs JCBB
 

Margarita Chli and Andrew J. Davison, "Active Matching for Visual Tracking", in Robotics and Autonomous Systems.


{PDF, ScienceDirect, related video, related SLIDES, bibtex }


 

AUTOMATICALLY AND EFFICIENTLY INFERRING THE HIERARCHICAL STRUCTURE OF VISUAL MAPS

Submapping video 2

Margarita Chli and Andrew J. Davison, "Automatically and Efficiently Inferring the Hierarchical Structure of Visual Maps", in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2009.

 { PDF,IEEE Xplore, video 1, video 2, SLIDES, bibtex }


ACTIVE MATCHING

Active Matching video

Margarita Chli and Andrew J. Davison, "Active Matching", in Proceedings of the European Conference on Computer Vision (ECCV) 2008.

{ PDF, Springer, video, poster,related SLIDES, bibtex }


 

EFFICIENT DATA ASSOCIATION IN IMAGES USING ACTIVE MATCHING

 

Loop Closing

Margarita Chli and Andrew J. Davison, "Efficient Data Association in Images using Active Matching", in the "Inside Data Association" workshop of the Robotics Science and Systems (RSS) 2008.

{ PDF, RSS website, SLIDES, bibtex }