Autonomous Exploration inside Dark Tunnels

Dear community,

In these two videos you will see some recent results on autonomous exploration of tunnels in visually-degraded (dark) conditions. Both localization and mapping, as well as path planning and control are handled completely autonomously. 

Best,

Kostas

Views: 650

Comment by Andrea Belloni on October 27, 2017 at 2:52am

Awesome works!

Can we have some links to technical documentation, schematic diagram of hardware and software used and the like?

Ciao

Andrea

Comment by Kostas Alexis on October 27, 2017 at 4:08pm

Hi Andrea,

Thanks for your interest. Most of the work is either published ( http://www.autonomousrobotslab.com/publications.html ) or under review etc. Still however, this talk covers a significant part of the technology: https://youtu.be/4ko2K6jFwaU 

And of course there are some many other groups and researchers to follow that work in these domains. 

Best,

Kostas

Comment by Andrea Belloni on October 28, 2017 at 12:24am

Thanks for info Kostas

Comment by HeliStorm on October 28, 2017 at 6:35pm
It would be interesting to see application scenarios for inspection and search and rescue.
Comment by Kostas Alexis on October 29, 2017 at 9:14pm

One of our main application scenarios relates to nuclear site decommissioning support. Others also are considered. 

Comment by Ed on November 6, 2017 at 5:19pm
Very nice. Are there any plans to make a reasonably priced unit for the general population?
Comment by Kostas Alexis on November 6, 2017 at 11:16pm

Dear Ed. Although we are currently not working on a commercial product, I can tell you that all the components here are low-cost. They are cameras, LEDs, IMUs, embedded electronics (custom-built) and the only thing that increases the price is the addition of Time-of-flight cameras. 

Comment by Ed on November 7, 2017 at 6:26am
Could I bother you for a BOM ? I am very interested in mapping large areas outside in fields. This looks like the application that would fit my need. Thank you

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