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Sammy Omari
Researcher at Institute of Robotics and Intelligent Systems
Publications - 36
Citations - 3455
Sammy Omari is an academic researcher from Institute of Robotics and Intelligent Systems. The author has contributed to research in topics: Optical flow & Extended Kalman filter. The author has an hindex of 17, co-authored 33 publications receiving 2424 citations. Previous affiliations of Sammy Omari include University of Bern & ETH Zurich.
Papers
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Journal ArticleDOI
The EuRoC micro aerial vehicle datasets
Michael Burri,Janosch Nikolic,Pascal Gohl,Thomas Schneider,Joern Rehder,Sammy Omari,Markus W. Achtelik,Roland Siegwart +7 more
TL;DR: Eleven datasets are provided, ranging from slow flights under good visual conditions to dynamic flights with motion blur and poor illumination, enabling researchers to thoroughly test and evaluate their algorithms.
Proceedings ArticleDOI
Robust visual inertial odometry using a direct EKF-based approach
TL;DR: A monocular visual-inertial odometry algorithm which achieves accurate tracking performance while exhibiting a very high level of robustness by directly using pixel intensity errors of image patches, leading to a truly power-up-and-go state estimation system.
Journal ArticleDOI
Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback
TL;DR: Experimental results show that robust localization with high accuracy can be achieved with this filter-based framework, and there is no time-consuming initialization procedure and pose estimates are available starting at the second image frame.
Proceedings ArticleDOI
Structural inspection path planning via iterative viewpoint resampling with application to aerial robotics
Andreas Bircher,Kostas Alexis,Michael Burri,Philipp Oettershagen,Sammy Omari,Thomas Mantel,Roland Siegwart +6 more
TL;DR: In this paper, an alternating two-step optimization paradigm is used to find good viewpoints that together provide full coverage and a connecting path that has low cost. But, the problem of inspection path planning for complex 3D structures is not addressed.
Journal ArticleDOI
Three-dimensional coverage path planning via viewpoint resampling and tour optimization for aerial robots
Andreas Bircher,Mina Kamel,Kostas Alexis,Kostas Alexis,Michael Burri,Philipp Oettershagen,Sammy Omari,Thomas Mantel,Roland Siegwart +8 more
TL;DR: This paper presents a new algorithm capable of computing short inspection paths via an alternating two-step optimization algorithm according to which at every iteration it attempts to find a new and improved set of viewpoints that together provide full coverage with decreased path cost.