Welcome

I'm Zachary Taylor, a senior researcher in the rotary-wing team at the Autonomous Systems Lab, ETH Zurich.
About this Website
I created this website so others could easily find and make use of my research. The site is split into the following sections:
 
ASL : The work I have been involved with at the ASL, from platform integration, to code, projects, challenges, etc.

Publications:  All the papers I have contributed to since obtaining my PhD

ACFR:  A quick overview of the work from my PhD at the Australian Center for Field Robotics.

In the presented material I am almost always just a small part of a large team that worked to make it happen. With dozens of PhD students, masters students and engineers coming together on the projects.

External links:

My Google Scholar profile page
My Github profile page
 
 
 
My Research
From 2012 to 2015, while working towards my PhD at the Australian Center for Field Robotics I performed research into the alignment and calibration of multi-modal sensors. The methods developed provided a means of calibrating 2D and 3D sensors, require no special targets or other calibration aids and provide a measure of the uncertainty in the resulting calibration. 

Since December 2015 I have been working as a senior researcher at the Autonomous Systems Lab, ETH Zurich. My research here is on the development of micro-aerial vehicles, with a strong focus on the approaches needed to allow these systems to not only operate autonomously in unstructured environments, but to perform useful work while they are there. This work covers a large range of challenging problems including perception, state-estimation, mapping, planning and control. To be robust and free of infrastructure the systems must also be able to run in realtime fully onboard the target platform. 
Video Gallery
More at  https://www.youtube.com/user/aslteam
  1. MBZIRC 2017
    An overview of the ASL performance at MBZIRC 2017
  2. Sparse 3D Topological Graphs for Micro-Aerial Vehicle Planning
    Video accompanying the IROS 2018 submission "Sparse 3D Topological Graphs for Micro-Aerial Vehicle Planning", written by Helen Oleynikova, Zachary Taylor, Roland Siegwart, and Juan Nieto. The paper is available at https://arxiv.org/abs/1803.04345 .
  3. Safe Local Exploration for Replanning in Cluttered Unknown Environments for Micro-Aerial Vehicles
    This is the video accompanying the paper "Safe Local Exploration for Replanning in Cluttered Unknown Environments for Micro-Aerial Vehicles" by Helen Oleynikova, Zachary Taylor, Roland Siegwart, and Juan Nieto, which can be found at https://arxiv.org/abs/1710.00604
  4. Data fusion after lidar-camera-nav calibration
    Velodyne data matched using ICP and fused with camera information. Uses data from the Kitti Dataset in combination with a calibration approach outlined in "Motion-Based Calibration of Multimodal Sensor Arrays"