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

No abstract is available for this paper.

• Publication year

  2012

• Venue

  Int. J. Robotics Res.

• Publication date

  2012-09-01

• Fields of study

  Computer Science, Engineering, Environmental Science

• Identifiers
  DOI 10.1177/0278364912455256
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

• Proceedings of the British Machine Vision Conference (BMVC)

  2013cited by this paper
• Accuracy analysis of kinect depth data

  2012influential reference
• PIXHAWK: A system for autonomous flight using onboard computer vision

  2011influential reference
• Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera

  2011cited by this paper
• Rapidly-exploring Random Belief Trees for motion planning under uncertainty

  2011cited by this paper
• Autonomous multi-floor indoor navigation with a computationally constrained MAV

  2011cited by this paper
• Live dense reconstruction with a single moving camera

  2010cited by this paper
• Sparse Sparse Bundle Adjustment

  2010cited by this paper
• Vision based MAV navigation in unknown and unstructured environments

  2010cited by this paper
• RANGE - robust autonomous navigation in GPS-denied environments

  2010influential reference
• LQG-MP: Optimized path planning for robots with motion uncertainty and imperfect state information

  2010cited by this paper
• RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments

  2010influential reference
• The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance

  2009influential reference
• Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers

  2009cited by this paper
• Multi-view image and ToF sensor fusion for dense 3D reconstruction

  2009cited by this paper
• Towards a navigation system for autonomous indoor flying

  2009cited by this paper
• Navigating , Recognising and Describing Urban Spaces With Vision and Laser

  2009cited by this paper
• The self-referenced DLR 3D-modeler

  2009cited by this paper
• Vision-based guidance and control of a hovering vehicle in unknown, GPS-denied environments

  2009cited by this paper
• Reconstructing building interiors from images

  2009cited by this paper
• Autonomous Flight in Unknown Indoor Environments

  2009influential reference
• Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments

  2009cited by this paper
• Autonomous flight in unstructured and unknown indoor environments

  2009influential reference
• A Constant-Time Efficient Stereo SLAM System

  2009influential reference
• Mono-vision corner SLAM for indoor navigation

  2008cited by this paper
• Planning in information space for a quadrotor helicopter in a GPS-denied environment

  2008influential reference
• Robust and Efficient Stereo Feature Tracking for Visual Odometry

  2008cited by this paper
• iSAM: Incremental Smoothing and Mapping

  2008cited by this paper
• Real-time stereo visual odometry for autonomous ground vehicles

  2008influential reference
• Trajectory Optimization using Reinforcement Learning for Map Exploration

  2008cited by this paper
• Stereo-Vision Based 3D Modeling and Localization for Unmanned Vehicles

  2008cited by this paper
• Planning Robust Landmarks for Sensor Based Motion

  2008cited by this paper
• Visual SLAM for Flying Vehicles

  2008cited by this paper
• Autonomous Indoor Hovering with a Quadrotor

  2008cited by this paper
• Keypoint Signatures for Fast Learning and Recognition

  2008cited by this paper
• Accurate, Dense, and Robust Multi-View Stereopsis

  2007cited by this paper
• Efficient estimation of accurate maximum likelihood maps in 3D

  2007cited by this paper
• A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent

  2007cited by this paper
• GP-UKF: Unscented kalman filters with Gaussian process prediction and observation models

  2007cited by this paper
• A Close-form Solution of Absolute Orientation Using Unit Quaternions

  2007cited by this paper
• The Belief Roadmap: Efficient Planning in Linear POMDPs by Factoring the Covariance

  2007influential reference
• Planning with Uncertainty in Position Using High-Resolution Maps

  2007cited by this paper
• AN EXPERIMENTAL STUDY OF AERIAL STEREO VISUAL ODOMETRY

  2007cited by this paper
• Energy-efficient Autonomous Four-rotor Flying Robot Controlled at 1 kHz

  2007cited by this paper
• Large-Scale Visual Odometry for Rough Terrain

  2007cited by this paper
• Detailed Real-Time Urban 3D Reconstruction from Video

  2007cited by this paper
• Machine Learning for High-Speed Corner Detection

  2006influential reference
• On the Probabilistic Foundations of Probabilistic Roadmap Planning

  2006cited by this paper
• Scalable Recognition with a Vocabulary Tree

  2006cited by this paper
• Visual servoing of an autonomous helicopter in urban areas using feature tracking

  2006cited by this paper
• Fast iterative alignment of pose graphs with poor initial estimates

  2006cited by this paper
• Optimal sensor scheduling for resource-constrained localization of mobile robot formations

  2006cited by this paper
• Photo tourism: exploring photo collections in 3D

  2006cited by this paper
• Indoor Multi-Vehicle Flight Testbed for Fault Detection, Isolation, and Recovery

  2006cited by this paper
• Parametric POMDPs for planning in continuous state spaces

  2006cited by this paper
• Matrix Riccati Equations in Control and Systems Theory [Book Report]

  2005cited by this paper
• Improving vision-based control using efficient second-order minimization techniques

  2004influential reference
• Helicopter automation using a low-cost sensing system

  2004cited by this paper
• Simultaneous Localization and Mapping with Sparse Extended Information Filters

  2004cited by this paper
• Heuristic Search Value Iteration for POMDPs

  2004cited by this paper
• Visual odometry

  2004influential reference
• The bridge test for sampling narrow passages with probabilistic roadmap planners

  2003cited by this paper
• Point-based value iteration: an anytime algorithm for POMDPs

  2003cited by this paper
• Preemptive RANSAC for live structure and motion estimation

  2003influential reference
• Scan Alignment and 3-D Surface Modeling with a Helicopter Platform

  2003cited by this paper
• Matrix Riccati Equations in Control and Systems Theory

  2003cited by this paper
• Mobile Robot Localization and Mapping with Uncertainty using Scale-Invariant Visual Landmarks

  2002cited by this paper
• Fast, unconstrained camera motion estimation from stereo without tracking and robust statistics

  2002cited by this paper
• Robust Monte Carlo localization for mobile robots

  2001cited by this paper
• Planning with Incomplete Information as Heuristic Search in Belief Space

  2000cited by this paper
• The Gaussian sampling strategy for probabilistic roadmap planners

  1999cited by this paper
• Bundle Adjustment - A Modern Synthesis

  1999cited by this paper
• Mobile robot exploration and map-building with continuous localization

  1998cited by this paper
• Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces

  1996cited by this paper
• Modeling and rendering architecture from photographs: a hybrid geometry- and image-based approach

  1996cited by this paper
• A new approach for filtering nonlinear systems

  1995influential reference
• Sensory uncertainty field for mobile robot navigation

  1992cited by this paper
• Mobile robot localization by tracking geometric beacons

  1991cited by this paper
• A Combined Corner and Edge Detector

  1988cited by this paper
• Spatial Planning: A Configuration Space Approach

  1983cited by this paper
• Obstacle avoidance and navigation in the real world by a seeing robot rover

  1980cited by this paper
• Theory Of Optimal Experiments

  1972influential reference

• A Taylor Series Approach to Correct Localization Errors in Robotic Field Mapping using Gaussian Processes

  2026cites this paper
• Attitude Estimation Using Orthogonal-Oriented Infrared Cameras

  2025cites this paper
• Gaussian Process-Based Scalar Field Estimation in GPS-Denied Environments

  2025cites this paper
• A Simultaneous Control, Localization, and Mapping System for UAVs in GPS-Denied Environments

  2025cites this paper
• Look as You Leap: Planning Simultaneous Motion and Perception for High-DOF Robots

  2025cites this paper
• Depth as Points: Center Point-based Depth Estimation

  2025cites this paper
• Catadioptric omnidirectional thermal odometry in dynamic environment

  2024cites this paper
• A Review of Sensing Technologies for Indoor Autonomous Mobile Robots

  2024cites this paper
• Survey on Embedding Economical Autonomous Navigation System for Mobile Robots and UAV

  2024cites this paper
• Toward Integrating Semantic-aware Path Planning and Reliable Localization for UAV Operations

  2024cites this paper
• RELAX: Reinforcement Learning Enabled 2D-LiDAR Autonomous System for Parsimonious UAVs

  2023cites this paper
• A comprehensive survey on non‐cooperative collision avoidance for micro aerial vehicles: Sensing and obstacle detection

  2023cites this paper
• OwlFusion: Depth-Only Onboard Real-Time 3D Reconstruction of Scalable Scenes for Fast-Moving MAV

  2023cites this paper
• Revolutionizing power line inspection: automated data acquisition through autonomous UAVs in simulated environment

  2023cites this paper
• Navigation of USV for GPS-Disabled Environment based on Extended Kalman Filter

  2023cites this paper
• Lidar-VIO Based Mapping of Elevator Shaft with UAV for Verification of Spatial Dimensions

  2023cites this paper
• Accelerating trail navigation for unmanned aerial vehicle: A denoising deep-net with 3D-NLGL

  2022cites this paper
• Autonomous unmanned aerial vehicle flight control using multi-task deep neural network for exploring indoor environments

  2022cites this paper
• Tightly-coupled GNSS-aided Visual-Inertial Localization

  2022cites this paper
• Efficient Volume Estimation for Dynamic Environments using Deep Learning on the Edge

  2022cites this paper
• Fast Obstacle Avoidance Motion in Small Quadcopter operation in a Cluttered Environment

  2021cites this paper
• Automatic Data Acquisition of the Power Line Inspection Using autonomous UAV's on Simulated Environment

  2021cites this paper
• Design of Miniaturized Sensors for a Mission-Oriented UAV Application: A New Pathway for Early Warning

  2021cites this paper
• MNNMs Integrated Control for UAV Autonomous Tracking Randomly Moving Target Based on Learning Method

  2021cites this paper
• 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

  2021cites this paper
• Autonomous Android: Autonomous 3D Environment Mapping with Android Controlled Multicopters

  2021cites this paper
• Overview of Obstacle Avoidance Algorithms for UAV Environment Awareness

  2021cites this paper
• Biologically Inspired Collision Avoidance Without Distance Information

  2021cites this paper
• Belief Space Planning for Mobile Robots With Range Sensors Using iLQG

  2021cites this paper
• A 30 MB re-configurable convolutional neural network processor for high-performance and energy-efficient operation

  2020cites this paper
• Autonomous State Estimation and Mapping in Unknown Environments With Onboard Stereo Camera for Micro Aerial Vehicles

  2020cites this paper
• Autonomous quadrotor collision avoidance and destination seeking in a GPS-denied environment

  2020cites this paper
• A UAV Exploration Method by Detecting Multiple Directions with Deep Learning

  2020cites this paper
• Path Tracking Control Based on Model Predictive Control With Adaptive Preview Characteristics and Speed-Assisted Constraint

  2020cites this paper
• Deep Neural Networks for Drone View Localization and Mapping in GPS-Denied Environments

  2020cites this paper
• RGB-D Vision

  2020cites this paper
• Application of Miniaturized Sensors to Unmanned Aerial Systems, A New Pathway for the Survey of Polluted Areas: Preliminary Results

  2020cites this paper
• Finite-time Control for Image-based Visual Servoing of a Quadrotor Using Nonsingular Fast Terminal Sliding Mode

  2020cites this paper
• Low Cost Lightweight Obstacle Detection System for Micro Aerial Vehicles

  2019cites this paper
• Urban Intelligent Navigator for Drone Using Convolutional Neural Network (CNN)

  2019cites this paper
• Autonomous Canal Following by a Micro-Aerial Vehicle Using Deep CNN

  2019cites this paper
• An Improved ORB-SLAM2 in Dynamic Scene with Instance Segmentation

  2019cites this paper
• Mission Automation for Drone Inspection in Congested Environments

  2019cites this paper
• Autonomous UAV Navigation Using Reinforcement Learning

  2019cites this paper
• Perception‐aware autonomous mast motion planning for planetary exploration rovers

  2019cites this paper
• Vision-Based Aircraft Pose Estimation for UAVs Autonomous Inspection without Fiducial Markers

  2019cites this paper
• Achievable Stereo Vision Depth Accuracy with Changing Camera Baseline

  2019cites this paper
• Stereo Imagery Based Depth Sensing in Diverse Outdoor Environments: Practical Considerations

  2019cites this paper
• Visual-based semantic simultaneous localization and mapping for Robotic applications: A review

  2019cites this paper
• In-flight model parameter and state estimation using gradient descent for high-speed flight

  2019cites this paper
• A Guide for 3D Mapping with Low-Cost Sensors Using ROS

  2019cites this paper
• Control in belief space with temporal logic specifications using vision-based localization

  2019cites this paper
• Unmanned aerial vehicles using machine learning for autonomous flight; state-of-the-art

  2019cites this paper
• Panoramic UAV Surveillance and Recycling System Based on Structure-Free Camera Array

  2019cites this paper
• Collaborative Localization for Micro Aerial Vehicles

  2019cites this paper
• Multi-Scale Guided Mask Refinement for Coarse-to-Fine RGB-D Perception

  2019cites this paper
• Real-time on-board obstacle avoidance for UAVs based on embedded stereo vision

  2018cites this paper
• Guaranteed Collision Avoidance Based on Line-of-Sight Angle and Time-to-Collision

  2018cites this paper
• A Deep CNN-Based Framework For Enhanced Aerial Imagery Registration with Applications to UAV Geolocalization

  2018cites this paper
• Uncertainty Characterisation of Mobile Robot Localisation Techniques using Optical Surveying Grade Instruments

  2018cites this paper
• An efficient RANSAC hypothesis evaluation using sufficient statistics for RGB-D pose estimation

  2018cites this paper
• Reconstructing a 3D Room from a Kinect Carrying UAV

  2018cites this paper
• State of the Art on 3D Reconstruction with RGB‐D Cameras

  2018cites this paper
• Planning and Tracking in Image Space for Image-Based Visual Servoing of a Quadrotor

  2018cites this paper
• Calibrate Multiple Consumer RGB-D Cameras for Low-Cost and Efficient 3D Indoor Mapping

  2018cites this paper
• Post‐disaster assessment with unmanned aerial vehicles: A survey on practical implementations and research approaches

  2018cites this paper
• Laser-camera based 3D reconstruction of indoor environments

  2018cites this paper
• Ego-Motion Estimation of a Quadrotor Based on Nonlinear Observer

  2018cites this paper
• Accurate Image Depth Determination for Autonomous Vehicle Navigation

  2018cites this paper
• UAV 3D mapping with RGB-D camera

  2017cites this paper
• Vision‐based Localization and Robot‐centric Mapping in Riverine Environments

  2017cites this paper
• J-MOD2: Joint Monocular Obstacle Detection and Depth Estimation

  2017cites this paper
• Obstacle Avoidance Based-Visual Navigation for Micro Aerial Vehicles

  2017cites this paper
• Vision-based target tracking and autonomous landing of a quadrotor on a ground vehicle

  2017cites this paper
• Learning Unmanned Aerial Vehicle Control for Autonomous Target Following

  2017cites this paper
• Image-Based Visual Servoing of a Quadrotor Using Virtual Camera Approach

  2017cites this paper
• Toward low-flying autonomous MAV trail navigation using deep neural networks for environmental awareness

  2017cites this paper
• Comparison study of low-cost obstacle sensing solutions for Unmanned Aerial Vehicles in wildlife scenery

  2017cites this paper
• Mobile Robot Localization: Where We Are and What Are the Challenges?

  2017cites this paper
• Amélioration de performance de la navigation basée vision pour la robotique autonome : une approche par couplage vision/commande. (Performance improvment of vision-based navigation for autonomous robotics : a vision and control coupling approach)

  2017cites this paper
• DEPTH CAMERAS ON UAVs: A FIRST APPROACH

  2017cites this paper
• Quantifying uncertainty in high-resolution remotely sensed topographic surveys for ephemeral gully channel monitoring

  2017cites this paper
• Integrated perception and control at high speed

  2017cites this paper
• Action for perception: active object recognition and pose estimation in cluttered environments

  2017cites this paper
• Place Recognition and Localization for Multi-Modal Underwater Navigation with Vision and Acoustic Sensors

  2017cites this paper
• Impacts of Distributions and Trajectories on Navigation Uncertainty Using Line-of-Sight Measurements to Known Landmarks in GPS-Denied Environments

  2017cites this paper
• Direct visual odometry and dense large-scale environment mapping from panoramic RGB-D images

  2017cites this paper
• Control in belief space with Temporal Logic specifications

  2016cites this paper
• Divide and Conquer: Efficient Density-Based Tracking of 3D Sensors in Manhattan Worlds

  2016cites this paper
• Image Classification Using Sum-Product Networks for Autonomous Flight of Micro Aerial Vehicles

  2016cites this paper
• Feature selection for quality assessment of indoor mobile mapping point clouds

  2016cites this paper
• Subglacial Processes and Subglacial Hydrology

  2016cites this paper
• 3D simultaneous localization and mapping in texture-less and structure-less environments using rank order statistics

  2016influential citation
• Achievement of localization system for humanoid robots with virtual horizontal scan relative to improved odometry fusing internal sensors and visual information

  2016cites this paper
• Assessing Structural Complexity of Mangroves and its Implications for Ecosystem Services

  2016cites this paper
• Robust Monocular Flight in Cluttered Outdoor Environments

  2016cites this paper
• Crowd-sourced reconstruction of building interiors

  2016cites this paper
• Belief-space Planning for Active Visual SLAM in Underwater Environments.

  2016cites this paper
• Prediction of the scene quality for stereo vision-based autonomous navigation

  2016influential citation
• UAV obstacle avoidance scheme using an output to input saturation transformation technique

  2016cites this paper