Eighteenth national conference on Artificial intelligence
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Flying Fast and Low Among Obstacles: Methodology and Experiments
International Journal of Robotics Research
Vision-based navigation through urban canyons
Journal of Field Robotics
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Autonomous Vision-Based Helicopter Flights Through Obstacle Gates
Journal of Intelligent and Robotic Systems
Towards a navigation system for autonomous indoor flying
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Efficient C-space and cost function updates in 3D for unmanned aerial vehicles
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Objective evaluation of scanning ladar configurations for mobile robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Sparse non-linear least squares optimization for geometric vision
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part II
Intuitive 3D Maps for MAV Terrain Exploration and Obstacle Avoidance
Journal of Intelligent and Robotic Systems
Large scale graph-based SLAM using aerial images as prior information
Autonomous Robots
CVPR '11 Proceedings of the 2011 IEEE Conference on Computer Vision and Pattern Recognition
FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping
IEEE Transactions on Robotics
Approximating discrete probability distributions with dependence trees
IEEE Transactions on Information Theory
Efficient grid-based spatial representations for robot navigation in dynamic environments
Robotics and Autonomous Systems
Monocular Visual Mapping for Obstacle Avoidance on UAVs
Journal of Intelligent and Robotic Systems
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Accurately mapping the course and vegetation along a river is challenging, since overhanging trees block GPS at ground level and occlude the shore line when viewed from higher altitudes. We present a multimodal perception system for the active exploration and mapping of a river from a small rotorcraft. We describe three key components that use computer vision, laser scanning, inertial sensing and intermittant GPS to estimate the motion of the rotorcraft, detect the river without a prior map, and create a 3D map of the riverine environment. Our hardware and software approach is cognizant of the need to perform multi-kilometer missions below tree level with size, weight and power constraints. We present experimental results along a 2 km loop of river using a surrogate perception payload. Overall we can build an accurate 3D obstacle map and a 2D map of the river course and width from light onboard sensing.