The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Autonomous multi-floor indoor navigation with a computationally constrained MAV
Abstract
In this paper, we consider the problem of autonomous navigation with a micro aerial vehicle (MAV) in indoor environments. In particular, we are interested in autonomous navigation in buildings with multiple floors. To ensure that the robot is fully autonomous, we require all computation to occur on the robot without need for external infrastructure, communication, or human interaction beyond high-level commands. Therefore, we pursue a system design and methodology that enables autonomous navigation with real time performance on a mobile processor using only onboard sensors. Specifically, we address multi-floor mapping with loop closure, localization, planning, and autonomous control, including adaptation to aerodynamic effects during traversal through spaces with low vertical clearance or strong external disturbances. We present experimental results with ground truth comparisons and performance analysis.
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Citations
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SURF: Speeded Up Robust Features
Bay, H., Tuytelaars, T., & Van Gool, L. (2006) · Lecture Notes in Computer Science · doi:10.1007/11744023_32 · Cited by 14,955
Nonlinear Constraint Network Optimization for Efficient Map Learning
Grisetti, G., Stachniss, C., & Burgard, W. (2009) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2009.2026444 · Cited by 222 · cited 2×
“While several methods exist for reducing the computational burden [16] [21] [22], we found that these methods are too demanding for a 1.6 GHz processor.”
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Cited by
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
A UAV system for inspection of industrial facilities
Nikolic, J., Burri, M., Rehder, J., Leutenegger, S., Huerzeler, C., & Siegwart, R. (2013) · 2013 IEEE Aerospace Conference · doi:10.1109/aero.2013.6496959 · Cited by 251
Camera-IMU-based localization: Observability analysis and consistency improvement
Hesch, J. A., Kottas, D. G., Bowman, S. L., & Roumeliotis, S. I. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913509675 · Cited by 245
RoboTHOR: An Open Simulation-to-Real Embodied AI Platform
Deitke, M., Han, W., Herrasti, A., Kembhavi, A., Kolve, E., Mottaghi, R., Salvador, J., Schwenk, D., VanderBilt, E., Wallingford, M., et al. (2020) · 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr42600.2020.00323 · Cited by 220
Metadata
- Authors
- Shen, S., Michael, N., & Kumar, V.
- Venue
- 2011 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2011-05
- Pages
- 20-25
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2112510830
- Cited by
- 357
- References
- 2
- FWCI
- 79.34
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Shen, S., Michael, N., & Kumar, V. (2011). Autonomous multi-floor indoor navigation with a computationally constrained MAV. 2011 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/icra.2011.5980357
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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