The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Onboard IMU and monocular vision based control for MAVs in unknown in- and outdoor environments
Open accessAbstract
In this paper, we present our latest achievements towards the goal of autonomous flights of an MAV in unknown environments, only having a monocular camera as exteroceptive sensor. As MAVs are highly agile, it is not sufficient to directly use the visual input for position control at the framerates that can be achieved with small onboard computers. Our contributions in this work are twofold. First, we present a solution to overcome the issue of having a low frequent onboard visual pose update versus the high agility of an MAV. This is solved by filtering visual information with inputs from inertial sensors. Second, as our system is based on monocular vision, we present a solution to estimate the metric visual scale aid of an air pressure sensor. All computation is running onboard and is tightly integrated on the MAV to avoid jitter and latencies. This framework enables stable flights indoors and outdoors even under windy conditions.
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Cites
Parallel Tracking and Mapping for Small AR Workspaces
Klein, G., & Murray, D. (2007) · 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality · doi:10.1109/ismar.2007.4538852 · Cited by 4,346
MonoSLAM: Real-time single camera SLAM
Davison, A. J., Reid, I. D., Molton, N. D., & Stasse, O. (2007) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2007.1049 · Cited by 3,959
Cited by
LSD-SLAM: Large-scale direct monocular SLAM
Engel, J., Schöps, T., & Cremers, D. (2014) · Lecture Notes in Computer Science · doi:10.1007/978-3-319-10605-2_54 · Cited by 3,851
Weiss, S., Achtelik, M. W., Lynen, S., Chli, M., & Siegwart, R. (2012) · 2012 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2012.6225147 · Cited by 417
Self-citationLarge-scale direct SLAM for omnidirectional cameras
Caruso, D., Engel, J., & Cremers, D. (2015) · 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7353366 · Cited by 244
Metadata
- Authors
- Achtelik, M., Achtelik, M., Weiss, S., & Siegwart, R.
- Venue
- 2011 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2011-05
- Pages
- 3056-3063
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2159786429
- Cited by
- 295
- References
- 2
- FWCI
- 64.47
- Type
- conference paper
- Language
- en
- Open access
- green
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- Achtelik, M., Achtelik, M., Weiss, S., & Siegwart, R. (2011). Onboard IMU and monocular vision based control for MAVs in unknown in- and outdoor environments. 2011 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/icra.2011.5980343
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