Least-Squares Estimation of Transformation Parameters Between Two Point Patterns
IEEE Transactions on Pattern Analysis and Machine Intelligence
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance
International Journal of Robotics Research
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
Cooperative manipulation and transportation with aerial robots
Autonomous Robots
RANGE–Robust autonomous navigation in GPS-denied environments
Journal of Field Robotics
Monocular-SLAM–based navigation for autonomous micro helicopters in GPS-denied environments
Journal of Field Robotics
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
KinectFusion: Real-time dense surface mapping and tracking
ISMAR '11 Proceedings of the 2011 10th IEEE International Symposium on Mixed and Augmented Reality
Sampling-Based Roadmap of Trees for Parallel Motion Planning
IEEE Transactions on Robotics
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In many applications, the industrial environments are typically 3-D indoor spaces enclosed by shell style structures, which are highly complex with known or unknown non-convex obstacles. GPS signal is unreliable or even unavailable inside, which poses significant technical challenges for the state estimation of micro aerial vehicles (MAVs) performing exploration and modeling tasks in such environments. In this paper, requirements and challenges for 3-D enclosed industrial environments exploration are analyzed firstly, and then state-of-art developments of MAV systems, environment modeling, visual navigation and guidance technologies are reviewed. A robust RGB-D odometry is introduced into the system to provide airborne 6-DOF state estimates of the MAV, which are fused with inertial measurements. Then the fused state information is used to assist the RGB-D based real time 3-D environment modeling. An improved closed-loop RRT based path planning approach (BI-RRT) is developed for information-efficient environment explorations. A flight experimental platform is constructed and the proposed system is validated in flight experiments.