- 52
- 144 569
MARS LAB HKU
Hong Kong
Registrace 10. 03. 2019
Welcome to the Mechatronics and Robotic Systems (MaRS) Laboratory. We are part of the Department of Mechanical Engineering at the University of Hong Kong (HKU). Our lab focuses on general mechatronic systems and robotics, with emphasis on their practical use in real human life and industry. Our current focuses are on aerial robot design, planning and control, and lidar-based simultanous localization and mapping (SLAM).
LG-3, Haking Wong Building,
University of Hong Kong,
Pokfulam, Hong Kong
mars.hku.hk
LG-3, Haking Wong Building,
University of Hong Kong,
Pokfulam, Hong Kong
mars.hku.hk
LTA-OM: Long-Term Association LiDAR-IMU Odometry and Mapping
LTA-OM [JFR2024]: an efficient, robust, and accurate SLAM system. We integrate FAST-LIO2, STD-LCD (Loop Closure Detection), loop optimization and false positive loop closures rejection into LTA-OM. Long-term association (LTA) mapping is proposed to employ the corrected history map to provide direct global constraints to the LIO mapping process, resulting in nice global map consistency. A multi-session mode is also implemented and this mode provides consistent map stitching performance. LTA-OM shows superior accuracy, map consistency and efficiency in the benchmark experiment against existing SLAM systems. It is applicable to both multi-line spinning (360 degrees FOV) and solid-state LiDARs (small FOV). Code is available on github.com/hku-mars/LTAOM.
zhlédnutí: 1 462
Video
Moving event detection from LiDAR point streams
zhlédnutí 1,8KPřed 7 měsíci
Article in Nature Communications: www.nature.com/articles/s41467-023-44554-8 Abstract： In dynamic environments, robots require instantaneous detection of moving events with microseconds of latency. This task, known as moving event detection, is typically achieved using event cameras. While light detection and ranging (LiDAR) sensors are essential for robots due to their dense and accurate depth...
Occupancy Grid Mapping without Ray-Casting for High-resolution LiDAR Sensors
zhlédnutí 2,6KPřed rokem
This video presents an efficient occupancy mapping framework for high-resolution LiDAR sensors. Two real-world applications are also included in this video.
Swashplateless-elevon Actuation for a Dual-rotor Tail-sitter VTOL UAV
zhlédnutí 1,9KPřed rokem
This video presnets a novel swashplateless-elevon actuation (SEA) for dual-rotor tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs). In contrast to the conventional elevon actuation (CEA) which controls both pitch and yaw using elevons, the SEA adopts swashplateless mechanisms to generate an extra moment through motor speed modulation to control pitch and uses elevo...
Perch a quadrotor on planes by the ceiling effect
zhlédnutí 615Před rokem
Abstract: Perching is a promising solution for a small unmanned aerial vehicle (UAV) to save energy and extend operation time. This paper proposes a quadrotor that can perch on planar structures using the ceiling effect. Compared with the existing work, this perching method does not require any claws, hooks, or adhesive pads, leading to a simpler system design. This method does not limit the pe...
IPC
zhlédnutí 2,1KPřed rokem
IPC: Integrated Planning and Control for Quadrotor Navigation in Presence of Sudden Crossing Objects and Disturbances GitHub: github.com/hku-mars/IPC Autonomous flight for quadrotors in environments with sudden crossing objects and disturbances still pose significant challenges. In this work, we propose an integrated planning and control framework called IPC. Specifically, we design a framework...
Snapp: An Agile Robotic Fish with 3D Maneuverability for Open Water Swim
zhlédnutí 2,2KPřed rokem
From the World's Fastest Robotic Fish, now comes a controllable version of the fish. We're now ready to capture the seven seas and one day explore the depths of the oceans with Snapp! Abstract: Fish exhibit impressive locomotive performance and agility in complex underwater environments, using their undulating tails and pectoral fins for propulsion and maneuverability. Replicating these abiliti...
Point-LIO: Robust High-Bandwidth LiDAR-Inertial Odometry
zhlédnutí 5KPřed rokem
Github: github.com/hku-mars/Point-LIO Paper: onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202200459 Point-LIO has two key novelties that enable a high-bandwidth LiDAR-inertial odometry (LIO). The first one is a point-by-point LIO framework, where the state is updated at each LiDAR point measurement without accumulating them into a frame. This point-by-point update allows an extremely high-freq...
A self-rotating, single-actuated UAV with extended sensor field of view for autonomous navigation
zhlédnutí 9KPřed rokem
Article in Science Robotics: www.science.org/doi/10.1126/scirobotics.ade4538 Abstract: Uncrewed aerial vehicles (UAVs) rely heavily on visual sensors to perceive obstacles and explore environments. Current UAVs are limited in both perception capability and task efficiency because of a small sensor field of view (FoV). One solution could be to leverage self-rotation in UAVs to extend the sensor ...
Bubble Explorer: Fast UAV Exploration in Large-Scale and Cluttered 3D-Environments
zhlédnutí 1,3KPřed rokem
Bubble Explorer: Fast UAV Exploration in Large-Scale and Cluttered 3D-Environments using Occlusion-Free Spheres. Autonomous exploration is a crucial aspect of robotics that has numerous applications. Most of the existing methods greedily choose goals that maximize immediate reward. This strategy is computationally efficient but insufficient for overall exploration efficiency. In recent years, s...
ROG-Map: An Efficient Robocentric Occupancy Grid Map for LiDAR-based Motion Planning
zhlédnutí 2,5KPřed rokem
ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning. Recent advances in LiDAR technology have opened up new possibilities for robotic navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion planning, this paper aims to address the challenges of integrating LiDAR with OGMs. To this end, we propose ROG-M...
Decentralized Swarm Trajectory Generation for LiDAR-based Aerial Tracking in Cluttered Environments
zhlédnutí 573Před rokem
Aerial tracking with multiple unmanned aerial vehicles (UAVs) has wide potential in various applications. However, the existing works for swarm tracking typically lack the capability of maintaining high target visibility in cluttered environments. To address this deficiency, we present a decentralized planner that maximizes target visibility while ensuring collision-free maneuvers for swarm tra...
Robocentric formulation for visual servoing with application on quadrotor.
zhlédnutí 654Před rokem
A robocentric visual seroving modeling method for quadrotor with demonstration on hovering and dynamic obstacle avoidance. The paper is available at: ieeexplore.ieee.org/document/10016632
ImMesh: An Immediate LiDAR Localization and Meshing Framework
zhlédnutí 3,8KPřed rokem
In this paper, we propose a novel LiDAR(-inertial) odometry and mapping framework to achieve the goal of simultaneous localization and meshing in real-time. To share our findings and make contributions to the community, we make our code publicly available on our GitHub: github.com/hku-mars/ImMesh
Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights
zhlédnutí 1,1KPřed rokem
We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic models, which lays a foundation for generating dynamically feasible trajectory and achieving high-performance tracking control. We found that a tail-sitter i...
MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs
zhlédnutí 1,8KPřed rokem
MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs
On-Manifold Model Predictive Control for Trajectory Tracking on Robotic Systems
zhlédnutí 1,1KPřed rokem
On-Manifold Model Predictive Control for Trajectory Tracking on Robotic Systems
STD: Stable Triangle Descriptor for 3D place recognition
zhlédnutí 2,2KPřed rokem
STD: Stable Triangle Descriptor for 3D place recognition
Large-Scale LiDAR Consistent Mapping using Hierarchical LiDAR Bundle Adjustment
zhlédnutí 2,3KPřed rokem
Large-Scale LiDAR Consistent Mapping using Hierarchical LiDAR Bundle Adjustment
Efficient and Consistent Bundle Adjustment on Point Cloud
zhlédnutí 3,2KPřed rokem
Efficient and Consistent Bundle Adjustment on Point Cloud
Online Whole-body Motion Planning for Quadrotor using Multi-resolution Search
zhlédnutí 937Před rokem
Online Whole-body Motion Planning for Quadrotor using Multi-resolution Search
Decentralized LiDAR-inertial Swarm Odometry
zhlédnutí 1,7KPřed rokem
Decentralized LiDAR-inertial Swarm Odometry
Robust Real-time LiDAR-inertial Initialization
zhlédnutí 3,9KPřed 2 lety
Robust Real-time LiDAR-inertial Initialization
FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry
zhlédnutí 6KPřed 2 lety
FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry
Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry
zhlédnutí 2,9KPřed 2 lety
Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry
Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors
zhlédnutí 1,2KPřed 2 lety
Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors
Gemini II: Design, Modeling, and Control of a Compact Yet Efficient Servo-less Bi-copter.
zhlédnutí 964Před 2 lety
Gemini II: Design, Modeling, and Control of a Compact Yet Efficient Servo-less Bi-copter.
R3LIVE: A Robust, Real time, RGB colored, LiDAR Inertial Visual tightly coupled state Estimator
zhlédnutí 10KPřed 2 lety
R3LIVE: A Robust, Real time, RGB colored, LiDAR Inertial Visual tightly coupled state Estimator
R3LIVE: Toward various of 3D applications
zhlédnutí 4KPřed 2 lety
R3LIVE: Toward various of 3D applications