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Estimation, planning, and mapping for autonomous flight using an RGB-D camera in GPS-denied environments

https://doi.org/10.1177/0278364912455256

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What this work says

Outgoing claims: the papers this work cites, builds on, or argues with.

inferredcites →https://doi.org/10.1002/rob.20400openalex-snapshot

RANGE–Robust autonomous navigation in GPS‐denied environments

inferredcites →https://doi.org/10.1007/10991459_28openalex-snapshot

Scan Alignment and 3-D Surface Modeling with a Helicopter Platform

inferredcites →https://doi.org/10.1007/11744023_34openalex-snapshot

Machine Learning for High-Speed Corner Detection

inferredcites →https://doi.org/10.1007/3-540-44480-7_21openalex-snapshot

Bundle Adjustment — A Modern Synthesis

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Matrix Riccati Equations in Control and Systems Theory

inferredcites →https://doi.org/10.1007/978-3-319-29363-9_14openalex-snapshot

Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera

inferredcites →https://doi.org/10.1007/978-3-319-50115-4openalex-snapshot

2016 International Symposium on Experimental Robotics

inferredcites →https://doi.org/10.1007/978-3-540-78317-6_20openalex-snapshot

Planning Robust Landmarks for Sensor Based Motion

inferredcites →https://doi.org/10.1007/978-3-540-88682-2_6openalex-snapshot

Keypoint Signatures for Fast Learning and Recognition

inferredcites →https://doi.org/10.1007/978-3-642-14743-2_18openalex-snapshot

Large-Scale Visual Odometry for Rough Terrain

inferredcites →https://doi.org/10.1007/978-3-642-14743-2_25openalex-snapshot

The Belief Roadmap: Efficient Planning in Linear POMDPs by Factoring the Covariance

inferredcites →https://doi.org/10.1007/978-3-642-28572-1_33openalex-snapshot

RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments

inferredcites →https://doi.org/10.1007/s00138-005-0006-yopenalex-snapshot

Preemptive RANSAC for live structure and motion estimation

inferredcites →https://doi.org/10.1007/s11263-007-0086-4openalex-snapshot

Detailed Real-Time Urban 3D Reconstruction from Video

inferredcites →https://doi.org/10.1016/j.robot.2006.05.007openalex-snapshot

Parametric POMDPs for planning in continuous state spaces

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Robust Monte Carlo localization for mobile robots

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Computer vision and pattern recognition

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Probabilistic roadmaps for path planning in high-dimensional configuration spaces

inferredcites →https://doi.org/10.1109/70.88147openalex-snapshot

Mobile robot localization by tracking geometric beacons

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A new approach for filtering nonlinear systems

inferredcites →https://doi.org/10.1109/cvpr.2004.1315094openalex-snapshot

Visual odometry

inferredcites →https://doi.org/10.1109/cvpr.2006.264openalex-snapshot

Scalable Recognition with a Vocabulary Tree

inferredcites →https://doi.org/10.1109/cvpr.2010.5539794openalex-snapshot

Live dense reconstruction with a single moving camera

inferredcites →https://doi.org/10.1109/eit.2008.4554326openalex-snapshot

Mono-vision corner SLAM for indoor navigation

inferredcites →https://doi.org/10.1109/icarcv.2002.1238577openalex-snapshot

Fast, unconstrained camera motion estimation from stereo without tracking and robust statistics

inferredcites →https://doi.org/10.1109/iccv.2009.5459145openalex-snapshot

Reconstructing building interiors from images

inferredcites →https://doi.org/10.1109/iccvw.2009.5457430openalex-snapshot

Multi-view image and ToF sensor fusion for dense 3D reconstruction

inferredcites →https://doi.org/10.1109/icra.2011.5980229openalex-snapshot

PIXHAWK: A system for autonomous flight using onboard computer vision

inferredcites →https://doi.org/10.1109/icra.2011.5980357openalex-snapshot

Autonomous multi-floor indoor navigation with a computationally constrained MAV

inferredcites →https://doi.org/10.1109/icra.2011.5980508openalex-snapshot

Rapidly-exploring Random Belief Trees for motion planning under uncertainty

inferredcites →https://doi.org/10.1109/icra11955.2008openalex-snapshot

2008 IEEE International Conference on Robotics and Automation

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Efficient estimation of accurate maximum likelihood maps in 3D

inferredcites →https://doi.org/10.1109/iros.2007.4399284openalex-snapshot

GP-UKF: Unscented kalman filters with Gaussian process prediction and observation models

inferredcites →https://doi.org/10.1109/iros.2008.4651147openalex-snapshot

Real-time stereo visual odometry for autonomous ground vehicles

inferredcites →https://doi.org/10.1109/iros.2009.5354708openalex-snapshot

The self-referenced DLR 3D-modeler

inferredcites →https://doi.org/10.1109/robot.1992.220095openalex-snapshot

Sensory uncertainty field for mobile robot navigation

inferredcites →https://doi.org/10.1109/robot.1998.681416openalex-snapshot

Mobile robot exploration and map-building with continuous localization

inferredcites →https://doi.org/10.1109/robot.1999.772447openalex-snapshot

The Gaussian sampling strategy for probabilistic roadmap planners

inferredcites →https://doi.org/10.1109/robot.2003.1242285openalex-snapshot

The bridge test for sampling narrow passages with probabilistic roadmap planners

inferredcites →https://doi.org/10.1109/robot.2004.1308092openalex-snapshot

Improving vision-based control using efficient second-order minimization techniques

inferredcites →https://doi.org/10.1109/robot.2006.1642040openalex-snapshot

Fast iterative alignment of pose graphs with poor initial estimates

inferredcites →https://doi.org/10.1109/robot.2007.363118openalex-snapshot

Planning with Uncertainty in Position Using High-Resolution Maps

inferredcites →https://doi.org/10.1109/robot.2007.363813openalex-snapshot

Energy-efficient Autonomous Four-rotor Flying Robot Controlled at 1 kHz

inferredcites →https://doi.org/10.1109/robot.2008.4543184openalex-snapshot

Robust and Efficient Stereo Feature Tracking for Visual Odometry

inferredcites →https://doi.org/10.1109/robot.2008.4543471openalex-snapshot

Planning in information space for a quadrotor helicopter in a GPS-denied environment

inferredcites →https://doi.org/10.1109/robot.2009.5152446openalex-snapshot

Towards a navigation system for autonomous indoor flying

inferredcites →https://doi.org/10.1109/robot.2009.5152680openalex-snapshot

Vision-based guidance and control of a hovering vehicle in unknown, GPS-denied environments

inferredcites →https://doi.org/10.1109/robot.2010.5509920openalex-snapshot

Vision based MAV navigation in unknown and unstructured environments

inferredcites →https://doi.org/10.1109/tc.1983.1676196openalex-snapshot

Spatial Planning: A Configuration Space Approach

inferredcites →https://doi.org/10.1109/tpami.2009.161openalex-snapshot

Accurate, Dense, and Robust Multiview Stereopsis

inferredcites →https://doi.org/10.1109/tro.2005.847362openalex-snapshot

2006 IEEE International Conference on Robotics and Automation

inferredcites →https://doi.org/10.1109/tro.2006.878947openalex-snapshot

Optimal sensor scheduling for resource-constrained localization of mobile robot formations

inferredcites →https://doi.org/10.1109/tro.2008.2004521openalex-snapshot

Visual SLAM for Flying Vehicles

inferredcites →https://doi.org/10.1109/tro.2008.2006706openalex-snapshot

iSAM: Incremental Smoothing and Mapping

inferredcites →https://doi.org/10.1111/j.1477-9730.2006.00358.xopenalex-snapshot

ISPRS Workshop: Laser Scanning 2005

inferredcites →https://doi.org/10.1117/12.819082openalex-snapshot

Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments

inferredcites →https://doi.org/10.1145/1141911.1141964openalex-snapshot

Photo tourism

inferredcites →https://doi.org/10.1145/237170.237191openalex-snapshot

Modeling and rendering architecture from photographs

inferredcites →https://doi.org/10.1177/027836402761412467openalex-snapshot

Mobile Robot Localization and Mapping with Uncertainty using Scale-Invariant Visual Landmarks

inferredcites →https://doi.org/10.1177/0278364904045479openalex-snapshot

Simultaneous Localization and Mapping with Sparse Extended Information Filters

inferredcites →https://doi.org/10.1177/0278364906067174openalex-snapshot

On the Probabilistic Foundations of Probabilistic Roadmap Planning

inferredcites →https://doi.org/10.1177/0278364907087426openalex-snapshot

Trajectory Optimization using Reinforcement Learning for Map Exploration

inferredcites →https://doi.org/10.1177/0278364909341483openalex-snapshot

Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers

inferredcites →https://doi.org/10.1177/0278364909341659openalex-snapshot

The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance

inferredcites →https://doi.org/10.1177/0278364913487641openalex-snapshot

International Symposium on Robotics Research

inferredcites →https://doi.org/10.1184/r1/6557033openalex-snapshot

Obstacle avoidance and navigation in the real world by a seeing robot rover

inferredcites →https://doi.org/10.1260/175682909790291492openalex-snapshot

Autonomous Flight in Unknown Indoor Environments

inferredcites →https://doi.org/10.1364/josaa.4.000629openalex-snapshot

Closed-form solution of absolute orientation using unit quaternions

inferredcites →https://doi.org/10.15607/rss.2007.iii.009openalex-snapshot

A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent

inferredcites →https://doi.org/10.15607/rss.2010.vi.017openalex-snapshot

LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information

inferredcites →https://doi.org/10.2307/2334826openalex-snapshot

Theory of Optimal Experiments.

inferredcites →https://doi.org/10.2514/6.2006-6200openalex-snapshot

Indoor Multi-Vehicle Flight Testbed for Fault Detection, Isolation, and Recovery

inferredcites →https://doi.org/10.3182/20070903-3-fr-2921.00036openalex-snapshot

AN EXPERIMENTAL STUDY OF AERIAL STEREO VISUAL ODOMETRY

inferredcites →https://doi.org/10.5244/c.2.23openalex-snapshot

A Combined Corner and Edge Detector

inferredcites →https://doi.org/10.5244/c.23.54openalex-snapshot

A Constant-Time Efficient Stereo SLAM System

inferredcites →https://doi.org/10.5244/c.24.102openalex-snapshot

Sparse Sparse Bundle Adjustment

inferredcites →https://doi.org/10.5555/1036843.1036906openalex-snapshot

Heuristic search value iteration for POMDPs

What points at this work

Incoming claims: where this work appears in other papers’ reference lists and arguments.

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Fast, Automated, Scalable Generation of Textured 3D Models of Indoor Environments

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J-MOD2: Joint Monocular Obstacle Detection and Depth Estimation

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Belief Space Planning for Mobile Robots With Range Sensors Using iLQG

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Multi-Scale Guided Mask Refinement for Coarse-to-Fine RGB-D Perception

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Accurate pose determination for autonomous vehicle navigation

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Achievable Stereo Vision Depth Accuracy with Changing Camera Baseline

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Laser-camera based 3D reconstruction of indoor environments

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An Improved ORB-SLAM2 in Dynamic Scene with Instance Segmentation

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Mission Automation for Drone Inspection in Congested Environments

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Urban Intelligent Navigator for Drone Using Convolutional Neural Network (CNN)

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6-DoF velocity estimation using RGB-D camera based on optical flow

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Planning and Tracking in Image Space for Image-Based Visual Servoing of a Quadrotor

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Autonomous State Estimation and Mapping in Unknown Environments With Onboard Stereo Camera for Micro Aerial Vehicles

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Image-Based Visual Servoing of a Quadrotor Using Virtual Camera Approach

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Ego-Motion Estimation of a Quadrotor Based on Nonlinear Observer

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Look as You Leap: Planning Simultaneous Motion and Perception for High-DoF Robots

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Investigating three‐dimensional mesoscale habitat complexity and its ecological implications using low‐cost RGB ‐D sensor technology

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State of the Art on 3D Reconstruction with RGB‐D Cameras

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Micro air vehicle autonomous obstacle avoidance from stereo-vision

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Feature selection for quality assessment of indoor mobile mapping point clouds

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Development and performance testing of a miniaturized multi-sensor system combining MOX and PID for potential UAV application in TIC, VOC and CWA dispersion scenarios

inferred← citeshttps://doi.org/10.1145/2425836.2425932openalex-snapshot

Using the Kinect as a navigation sensor for mobile robotics

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Stereo Imagery Based Depth Sensing in Diverse Outdoor Environments

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Robot Trajectories Comparison: A Statistical Approach

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Control in belief space with temporal logic specifications using vision-based localization

inferred← citeshttps://doi.org/10.1177/1756829319833685openalex-snapshot

In-flight model parameter and state estimation using gradient descent for high-speed flight

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Semi-Dense Visual Odometry for Monocular Navigation in Cluttered Environment

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Efficient RGB–D data processing for feature–based self–localization of mobile robots

inferred← citeshttps://doi.org/10.1590/s1982-21702015000300025openalex-snapshot

MAPEAMENTO 3D DE AMBIENTES INTERNOS USANDO DADOS RGB-D

inferred← citeshttps://doi.org/10.1590/s1982-21702016000100008openalex-snapshot

UM MÉTODO ADAPTATIVO PARA REGISTRO DE DADOS RGB-D

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Autonomous UAV Navigation Using Reinforcement Learning

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Design of Miniaturized Sensors for a Mission-Oriented UAV Application: A New Pathway for Early Warning

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Vision-Based Tracking, Odometry and Control for UAV Autonomy

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UAV Motion Planning and Exploration using Onboard Sensors

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On-board Model Predictive Control of a Quadrotor Helicopter: Design, Implementation, and Experiments

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Vision-based target tracking and autonomous landing of a quadrotor on a ground vehicle

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Guaranteed Collision Avoidance Based on Line-of-Sight Angle and Time-to-Collision

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Biologically Inspired Collision Avoidance Without Distance Information

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Toward Integrating Semantic-aware Path Planning and Reliable Localization for UAV Operations

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Learning Unmanned Aerial Vehicle Control for Autonomous Target Following

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Inertial-Aided Vision-Based Localization and Mapping in a Riverine Environment with Reflection Measurements

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Attitude Estimation Using Orthogonal-Oriented Infrared Cameras

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Assessing Structural Complexity of Mangroves and its Implications for Ecosystem Services

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Impacts of Distributions and Trajectories on Navigation Uncertainty Using Line-of-Sight Measurements to Known Landmarks in GPS-Denied Environments

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Accelerating trail navigation for unmanned aerial vehicle: A denoising deep-net with 3D-NLGL

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Application of Miniaturized Sensors to Unmanned Aerial Systems, A New Pathway for the Survey of Polluted Areas: Preliminary Results

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OwlFusion: Depth-Only Onboard Real-Time 3D Reconstruction of Scalable Scenes for Fast-Moving MAV

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A Simultaneous Control, Localization, and Mapping System for UAVs in GPS-Denied Environments

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Obstacle Avoidance Based-Visual Navigation for Micro Aerial Vehicles

inferred← citeshttps://doi.org/10.3390/mi6040487openalex-snapshot

Invariant Observer-Based State Estimation for Micro-Aerial Vehicles in GPS-Denied Indoor Environments Using an RGB-D Camera and MEMS Inertial Sensors

inferred← citeshttps://doi.org/10.3390/rs10020328openalex-snapshot

Calibrate Multiple Consumer RGB-D Cameras for Low-Cost and Efficient 3D Indoor Mapping

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Indoor Localization Algorithms for an Ambulatory Human Operated 3D Mobile Mapping System

inferred← citeshttps://doi.org/10.3390/s141121791openalex-snapshot

Sampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments

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A Primer on Autonomous Aerial Vehicle Design

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Uncertainty Characterisation of Mobile Robot Localisation Techniques using Optical Surveying Grade Instruments

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MNNMs Integrated Control for UAV Autonomous Tracking Randomly Moving Target Based on Learning Method

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A Review of Sensing Technologies for Indoor Autonomous Mobile Robots

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Active Localization for Robotic Systems: Algorithms and Cost Metrics

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Deep Neural Networks for Drone View Localization and Mapping in GPS-Denied Environments

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Revolutionizing power line inspection: automated data acquisition through autonomous UAVs in simulated environment

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Quantifying uncertainty in high-resolution remotely sensed topographic surveys for ephemeral gully channel monitoring

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REAL-TIME ON-BOARD OBSTACLE AVOIDANCE FOR UAVS BASED ON EMBEDDED STEREO VISION

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DEPTH CAMERAS ON UAVs: A FIRST APPROACH

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Generation and weighting of 3D point correspondences for improved registration of RGB-D data

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THE PERFORMANCE ANALYSIS OF AN INDOOR MOBILE MAPPING SYSTEM WITH RGB-D SENSOR

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Real-Time On-Board Obstacle Avoidance for UAVs based on Embedded Stereo Vision

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Imagerie multimodale 3D+ pour drone : application à l’évaluation de l’état phytosanitaire de la vigne

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