Achtelik, Markus

Markus Achtelik

ETH Z├╝rich
Dr. Markus Achtelik
Inst. f. Robotik u. Intell. Syst.
LEE J 304
Leonhardstrasse 21
8092 Zuerich

Phone: +41 44 632 89 08

Code Releases

:Framework for data acquisition, state estimation and position control to be used with the highlevel processor of Ascending Technologies helicopters.

ethzasl_ptam: Modified version of the well known monocular SLAM framework PTAM presented by Klein & Murray in their paper at ISMAR07. This ROS compatible version of PTAM was successfully used in the European project sFly to estimate a 6DoF pose for long-term vision based navigation of a micro helicopter in large outdoor environments. It has constant computational complexity and works at 20 Hz on an ATOM 1.6 GHz single core computer. Furthermore, it is more robust in self-similar scenes (e.g. grass, asphalt) than the original version.

ethzasl_sensor_fusion: Sensor fusion framework based on an Extended Kalman Filter (EKF) for vehicle pose estimation including intra- and inter-sensor calibration for single and multiple sensors. It assumes full 6DoF motion of the vehicle and an IMU centred platform. It is a self-calibrating approach rendering a vehicle a true power-on-and-go system. The framework is particularly designed to work on an Micro Aerial Vehicle (MAV) carrying an IMU and one single camera performing visual odometry as only navigation sensors. This framework was successfully used in the European project sFly (see Media Impact below)

Media Impact





Wichtiger Hinweis:
Diese Website wird in älteren Versionen von Netscape ohne graphische Elemente dargestellt. Die Funktionalität der Website ist aber trotzdem gewährleistet. Wenn Sie diese Website regelmässig benutzen, empfehlen wir Ihnen, auf Ihrem Computer einen aktuellen Browser zu installieren. Weitere Informationen finden Sie auf
folgender Seite.

Important Note:
The content in this site is accessible to any browser or Internet device, however, some graphics will display correctly only in the newer versions of Netscape. To get the most out of our site we suggest you upgrade to a newer browser.
More information

© 2015 ETH Zurich | Imprint | Disclaimer | 25 July 2012