Dominik Honegger, Lorenz Meier, Petri Tanskanen and Marc Pollefeys. An Open Source and Open Hardware Embedded Metric Optical Flow CMOS Camera for Indoor and Outdoor Applications, ICRA2013. (PDF)
Dominik Honegger, Pierre Greisen, Lorenz Meier, Petri Tanskanen, and Marc Pollefeys. Real-time Velocity Estimation Based on Optical Flow and Disparity Matching, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2012. (PDF)
Friedrich Fraundorfer, Lionel Heng, Dominik Honegger, Gim Hee Lee, Lorenz Meier, Petri Tanskanen, and Marc Pollefeys. Vision-Based Autonomous Mapping and Exploration Using a Quadrotor MAV, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2012. (PDF)
Videos
IROS 2012 Paper - Autonomous pure vision based exploration
Student Theses
You can do semester, bachelor or master theses as well as D-ITET group projects and D-MAVT focus projects with me.
If you're interested in one of these theses or if you have a suggestion for a thesis in the field of hardware design, please contact me via email.
Current theses:
Semester thesis: High Speed 4 Megapixel Camera—The goal of this thesis is to elaborate a frame grabber function for
an existing high speed 4 megapixel camera prototype system and implement in a FPGA. Image data from multiple differential links need to be combined to a
complete frame and buffered in available DDR2 memory. Afterwards the complete frames should be sent out using an ethernet link to a host computer.
Semester thesis: Low Power Hardware Acceleration—The goal of this thesis is to migrate an existing stereo matching and optical flow FPGA
implementation from an Altera Cyclone III FPGA to a latest generation Xilinx FPGA. Vendor specific hardware blocks need to be adjusted.
The physical camera interfaces should be changed from parallel to high speed differential signaling (LVDS).
