Christopher Doer, M.Sc.

Christopher Doer, M.Sc.

  • Fritz-Haber-Weg 1
    Geb. 30.33 
    76131 Karlsruhe

Research topic

 

 

Exploration in urban area

Especially near buildings, the navigation solution of a GNSS-based navigation system may be significantly degraded due to satellite shadowing and multipath propagation. Therefore, methods to improve the accuracy of the navigation solution by fusion of different sensors are developed. Furthermore, the increase of the availability and reliability of the navigation solution by means of navigation filters and integrity checks adapted to different situations is in the focus of research interest. This enables the autonomous flight of MAVs in difficult situations without the need for human intervention.

Autonomous exploration of indoor environments

Reconnaissance of buildings by unmanned aerial vehicles can provide rescue workers with important information outside their own field of vision, thus avoiding unnecessary, incalculable risks for first responders. In order to successfully carry out such reconnaissance missions, the MAV must be able to independently explore all accessible interior spaces in unknown environments, react flexibly to obstacles and then return safely to the ground station. This presents the micro-helicopters, which are limited in computational capacity and payload, with a variety of dynamic challenges to which classical systems are often unable to respond in real time. Therefore, a multi-sensorial system for autonomous exploration is being developed, including in particular reactive strategies for safe and efficient indoor operations - i.e. without GPS reception. Onboard processing of heterogeneous sensor data is intended not only to enable comprehensive exploration, but also to enable the aircraft to navigate in a robust and situationally aware manner. Mission-specific acquired data can then be directly transferred into e.g. building plans for rescue forces.

Mapping of interior spaces

With the help of various sensors, in particular the laser range finder, the geometry of the environment can be mapped with simultaneous self-localization. Such metric maps are suitable for navigation of the aircraft, but less so for interpretation of the underlying scene. Therefore, the metric map is augmented with mission-specific qualitative features. The resulting map enables on the one hand the aircraft to recognize the situation and on the other hand the rescue forces to better plan the mission.

 

 

Publications


2021
Radar Visual Inertial Odometry and Radar Thermal Inertial Odometry: Robust Motion Estimation even in Challenging Visual Conditions.
Doer, C.; Trommer, G. F.
2021. 2021 IEEE/RSJ International Conference on Intelligent Rotots and Sytems (IROS)
Yaw aided Radar Inertial Odometry using Manhattan World Assumptions.
Doer, C.; Trommer, G. F.
2021. 28th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS), 31st May 2021 - 2nd June 2021, Saint Petersburg, Russia, 1–9, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/ICINS43216.2021.9470842
Object Detection on Thermal Images for Unmanned Aerial Vehicles Using Domain Adaption Through Fine-Tuning.
Rauch, J.; Doer, C.; Trommer, G. F.
2021. 28th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS), 31st May 2021 - 2nd June 2021, Saint Petersburg, Russia, Art.Nr. 9470842, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/ICINS43216.2021.9470420
Entrepreneurship für Ingenieure - Konzeption einer innovativen interdisziplinären Lehrveranstaltung.
Belgardt, S.; Doer, C.; Hohmann, S.; Karg, P.; Rothfuß, S.; Siebenrock, F.; Stork, W.; Terzidis, O.; Tittel, A.; Zwick, T.
2021. Handbuch Qualität in Studium, Lehre und Forschung, 76, 67–84
2020
Radar Inertial Odometry with Online Calibration.
Doer, C.; Trommer, G. F.
2020. Proceedings of the European Navigation Conference (ENC 2020), The 28th edition of the European Navigation Conference (ENC 2020), held Nov. 22-25 at the Maritim Hotel & Internationales Congress Center in Dresden, Germany, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/ENC48637.2020.9317343
HD Map Generation from Vehicle Fleet Data for Highly Automated Driving on Highways.
Doer, C.; Henzler, M.; Messner, H.; Trommer, G. F.
2020. Proceedings of the 31st IEEE Intelligent Vehicles Symposium (IV 2020), October 19 - November 13, 2020, (Virtual) Las Vegas, NV, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IV47402.2020.9304781
Autonomous Precision Takeoff and Landing System for VTOLs in Degraded Visual and GNSS Denied Environments.
Doer, C.; Koenig, R.; Trommer, G. F.; Stumpf, E.
2020. Deutscher Luft- und Raumfahrtkongress (DLRK 2020), Deutsche Gesellschaft für Luft- und Raumfahrt - Lilienthal-Oberth e.V. doi:10.25967/530121
An EKF Based Approach to Radar Inertial Odometry.
Doer, C.; Trommer, G. F.
2020. Proceedings of the 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 152–159, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI49285.2020.9235254
Radar Based Autonomous Precision Takeoff and Landing System for VTOLs in GNSS Denied Environments.
Doer, C.; Koenig, R.; Trommer, G. F.; Stumpf, E.
2020. Proceedings of the 2020 International Conference on Unmanned Aircraft Systems (ICUAS 2020), 922–931, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICUAS48674.2020.9213925
2018
Inertial sensor data based motion estimation aided by image processing and differential barometry.
Doer, C.; Scholz, G.; Ruppelt, J.; Trommer, G. F.
2018. 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS), St. Petersburg, Russia, May 28-30, 2018, 1–10, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/ICINS.2018.8405839
2017
Indoor laser-based SLAM for micro aerial vehicles.
Doer, C.; Scholz, G.; Trommer, G. F.
2017. Gyroscopy and navigation, 8 (3), 181–189. doi:10.1134/S2075108717030038
2016
Grid-Based Laser SLAM for Micro Aerial Vehicles.
Doer, C.; Scholz, G.; Trommer, G. F.
2016. Proceedings of the 23rd Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2016, May 30 – June 01, 2016, Saint Petersburg, Russia. Ed.: V. G. Pesechonov, 463–466, State Research Center of the Russian Federation
2014
Aufbau und Optimierung eines Systems zur Kartierung und Lokalisierung in Innenräumen mit Hilfe optischer Sensoren. bachelor’s thesis.
Doer, F.
2014. Karlsruher Institut für Technologie (KIT)