Modeling and rendering architecture from photographs: a hybrid geometry- and image-based approach
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Robust Monte Carlo localization for mobile robots
Artificial Intelligence
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
Obstacle avoidance and navigation in the real world by a seeing robot rover
Obstacle avoidance and navigation in the real world by a seeing robot rover
Heuristic search value iteration for POMDPs
UAI '04 Proceedings of the 20th conference on Uncertainty in artificial intelligence
Preemptive RANSAC for live structure and motion estimation
Machine Vision and Applications
On the Probabilistic Foundations of Probabilistic Roadmap Planning
International Journal of Robotics Research
Photo tourism: exploring photo collections in 3D
ACM SIGGRAPH 2006 Papers
Scalable Recognition with a Vocabulary Tree
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
Trajectory Optimization using Reinforcement Learning for Map Exploration
International Journal of Robotics Research
Detailed Real-Time Urban 3D Reconstruction from Video
International Journal of Computer Vision
Keypoint Signatures for Fast Learning and Recognition
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
Point-based value iteration: an anytime algorithm for POMDPs
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers
International Journal of Robotics Research
The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance
International Journal of Robotics Research
Towards a navigation system for autonomous indoor flying
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Vision-based guidance and control of a hovering vehicle in unknown, GPS-denied environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
The self-referenced DLR 3D-modeler
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Accurate, Dense, and Robust Multiview Stereopsis
IEEE Transactions on Pattern Analysis and Machine Intelligence
RANGE–Robust autonomous navigation in GPS-denied environments
Journal of Field Robotics
Machine learning for high-speed corner detection
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Optimal sensor scheduling for resource-constrained localization of mobile robot formations
IEEE Transactions on Robotics
Visual SLAM for Flying Vehicles
IEEE Transactions on Robotics
iSAM: Incremental Smoothing and Mapping
IEEE Transactions on Robotics
Using the Kinect as a navigation sensor for mobile robotics
Proceedings of the 27th Conference on Image and Vision Computing New Zealand
Observability-based local path planning and obstacle avoidance using bearing-only measurements
Robotics and Autonomous Systems
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RGB-D cameras provide both color images and per-pixel depth estimates. The richness of this data and the recent development of low-cost sensors have combined to present an attractive opportunity for mobile robotics research. In this paper, we describe a system for visual odometry and mapping using an RGB-D camera, and its application to autonomous flight. By leveraging results from recent state-of-the-art algorithms and hardware, our system enables 3D flight in cluttered environments using only onboard sensor data. All computation and sensing required for local position control are performed onboard the vehicle, reducing the dependence on an unreliable wireless link to a ground station. However, even with accurate 3D sensing and position estimation, some parts of the environment have more perceptual structure than others, leading to state estimates that vary in accuracy across the environment. If the vehicle plans a path without regard to how well it can localize itself along that path, it runs the risk of becoming lost or worse. We show how the belief roadmap algorithm prentice2009belief, a belief space extension of the probabilistic roadmap algorithm, can be used to plan vehicle trajectories that incorporate the sensing model of the RGB-D camera. We evaluate the effectiveness of our system for controlling a quadrotor micro air vehicle, demonstrate its use for constructing detailed 3D maps of an indoor environment, and discuss its limitations.