UAV 预备知识

tools

1. ubuntu, intall it and then learn about cmake, bash, vim, qt(optional), only the fundamental functions are required.
2. OpenCV. install it, and then read the opencv reference manual and tutorial
3. ros, install, tutorial.
4. python. 可以使用pycharm,作为IDE.
5. caffe(optional).

net adout UAV

1. ardupliot
2. px4
3. dji

ros usually used pakcage

1. dji onboard sdk
2. mavros
3. svo
4. orb slam
5. ar_tracker_alvar githun page ros page

ros books

1. Learning ROS for Robotics Programming
2. 机器人操作系统（ROS）浅析

SLAM基础学习

1. Multiple View Geometry in Computer Vision。这本书基本涵盖了Vision-based SLAM这个领域的全部理论基础！读多少遍都不算多！另外建议配合Berkeley的课件学习。（更新：这本书书后附录也可以一并读完，包括附带bundle adjustment最基本的levenberg marquardt方法，newton方法等）．TUM(慕尼黑工大)有一个公开课，非常好，可以听一听，视频在这里
2. Sparse Matrix，这是大型稀疏矩阵处理的一般办法。可以参考Dr. Tim Davis的课件：Tim Davis ，他的主页里有全部的课程视频和Project。针对SLAM问题，最常用的least square算法是Sparse Levenberg Marquardt algorithm，这里有一份开源的代码以及具体实现的paper：Sparse Non-Linear Least Squares in C/C++
3. openSLAM
4. dataset tum
5. PCL
6. opencv

推荐阅读的书

1. Multiple View Geometry in Computer Vision
2. Probabilistic Robotics pdf
3. state estimation for Robotics
4. Quaternion kinematics for the error-state KF

paper about UAV

foundamental

1. [tutorial] Modeling, Estimation, and Control of Quadrotor
2. A Fully Autonomous Indoor Quadrotor
3. PIXHAWK A Micro Aerial Vehicle Design for
4. An Open-Source Hardware_Software Architecture for Quadrotor UAVs
5. Build Your Own Quadrotor Open-Source Projects on Unmanned Aerial Vehicles
6. The evolution of robotics research
7. Developing a ROS Enabled Full Autonomous Quadrotor
8. The Navigation and Control technology inside the AR.Drone
9. Learning ROS for Robotics Programming
10. Toward a fully autonomousUAV–Research Platform for Indoor and Outdoor
11. Vision-Controlled flying robotFrom System Design to Autonomous Navigation

vision Navigation

• A Kalman Filter-Based Algorithm for IMU-Camera Calibration Observability Analysis and Performance Evaluation
• SVO- Fast Semi-Direct Monocular Visual Odometry
• eth zasl sensor,
  
  • Stephan Weiss. Vision Based Navigation for Micro Helicopters PhD Thesis, 2012 pdf
  • Stephan Weiss, Markus W. Achtelik, Margarita Chli and Roland Siegwart. Versatile Distributed Pose Estimation and Sensor Self-Calibration for Autonomous MAVs. in IEEE International Conference on Robotics and Automation (ICRA), 2012. pdf
  • Stephan Weiss, Davide Scaramuzza and Roland Siegwart, Monocular-SLAM–based navigation for autonomous micro helicopters in GPS-denied environments, Journal of Field Robotics (JFR), Vol. 28, No. 6, 2011, 854-874. pdf
  • Stephan Weiss and Roland Siegwart. Real-Time Metric State Estimation for Modular Vision-Inertial Systems. in IEEE International Conference on Robotics and Automation (ICRA), 2011. pdf
  • Simon Lynen, Markus Achtelik, Stephan Weiss, Margarita Chli and Roland Siegwart, A Robust and Modular Multi-Sensor Fusion Approach Applied to MAV Navigation. in Proc. of the IEEE/RSJ Conference on - - Intelligent Robots and Systems (IROS), 2013. pdf
• [orb slam]
  
  • Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award). PDF.
  • Dorian Gálvez-López and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012.

xmind

最后给自己画的的一个思维脑图