Autonomous Toy Drone via Coresets for Pose Estimation.
autonomous sensors for micro drones
caratheodory
coresets
indoor navigation and mapping
localization
pose estimation
Journal
Sensors (Basel, Switzerland)
ISSN: 1424-8220
Titre abrégé: Sensors (Basel)
Pays: Switzerland
ID NLM: 101204366
Informations de publication
Date de publication:
27 May 2020
27 May 2020
Historique:
received:
09
05
2020
revised:
23
05
2020
accepted:
24
05
2020
entrez:
31
5
2020
pubmed:
31
5
2020
medline:
31
5
2020
Statut:
epublish
Résumé
A coreset of a dataset is a small weighted set, such that querying the coreset provably yields a ( 1 + ε )-factor approximation to the original (full) dataset, for a given family of queries. This paper suggests accurate coresets ( ε = 0 ) that are subsets of the input for fundamental optimization problems. These coresets enabled us to implement a "Guardian Angel" system that computes pose-estimation in a rate > 20 frames per second. It tracks a toy quadcopter which guides guests in a supermarket, hospital, mall, airport, and so on. We prove that any set of
Identifiants
pubmed: 32471199
pii: s20113042
doi: 10.3390/s20113042
pmc: PMC7308973
pii:
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM