User profiles for Lionel Heng
Lionel HengDirector of Robotics Autonomy Lab, DSO National Laboratories Verified email at ieee.org Cited by 3924 |
PIXHAWK: A micro aerial vehicle design for autonomous flight using onboard computer vision
We describe a novel quadrotor Micro Air Vehicle (MAV) system that is designed to use
computer vision algorithms within the flight control loop. The main contribution is a MAV system …
computer vision algorithms within the flight control loop. The main contribution is a MAV system …
Vision-based autonomous mapping and exploration using a quadrotor MAV
In this paper, we describe our autonomous vision-based quadrotor MAV system which maps
and explores unknown environments. All algorithms necessary for autonomous mapping …
and explores unknown environments. All algorithms necessary for autonomous mapping …
Vision-controlled micro flying robots: from system design to autonomous navigation and mapping in GPS-denied environments
Autonomous microhelicopters will soon play a major role in tasks like search and rescue,
environment monitoring, security surveillance, and inspection. If they are further realized in …
environment monitoring, security surveillance, and inspection. If they are further realized in …
3D visual perception for self-driving cars using a multi-camera system: Calibration, mapping, localization, and obstacle detection
Cameras are a crucial exteroceptive sensor for self-driving cars as they are low-cost and
small, provide appearance information about the environment, and work in various weather …
small, provide appearance information about the environment, and work in various weather …
Camodocal: Automatic intrinsic and extrinsic calibration of a rig with multiple generic cameras and odometry
Multiple cameras are increasingly prevalent on robotic and human-driven vehicles. These
cameras come in a variety of wide-angle, fish-eye, and catadioptric models. Furthermore, …
cameras come in a variety of wide-angle, fish-eye, and catadioptric models. Furthermore, …
A multiple-camera system calibration toolbox using a feature descriptor-based calibration pattern
This paper presents a novel feature descriptor-based calibration pattern and a Matlab
toolbox which uses the specially designed pattern to easily calibrate both the intrin-sics and …
toolbox which uses the specially designed pattern to easily calibrate both the intrin-sics and …
Toward automated driving in cities using close-to-market sensors: An overview of the v-charge project
Future requirements for drastic reduction of CO 2 production and energy consumption will
lead to significant changes in the way we see mobility in the years to come. However, the …
lead to significant changes in the way we see mobility in the years to come. However, the …
Efficient visual exploration and coverage with a micro aerial vehicle in unknown environments
In this paper, we propose a novel and computationally efficient algorithm for simultaneous
exploration and coverage with a vision-guided micro aerial vehicle (MAV) in unknown …
exploration and coverage with a vision-guided micro aerial vehicle (MAV) in unknown …
Project autovision: Localization and 3d scene perception for an autonomous vehicle with a multi-camera system
Project AutoVision aims to develop localization and 3D scene perception capabilities for a
self-driving vehicle. Such capabilities will enable autonomous navigation in urban and rural …
self-driving vehicle. Such capabilities will enable autonomous navigation in urban and rural …
Autonomous visual mapping and exploration with a micro aerial vehicle
Cameras are a natural fit for micro aerial vehicles (MAVs) due to their low weight, low power
consumption, and two‐dimensional field of view. However, computationally‐intensive …
consumption, and two‐dimensional field of view. However, computationally‐intensive …