The DOI matches its Crossref record; 19 of the 19 references it cites were found in a registry or an index.
Camera-based navigation of a low-cost quadrocopter
Abstract
In this paper, we describe a system that enables a low-cost quadrocopter coupled with a ground-based laptop to navigate autonomously in previously unknown and GPS-denied environments. Our system consists of three components: a monocular SLAM system, an extended Kalman filter for data fusion and state estimation and a PID controller to generate steering commands. Next to a working system, the main contribution of this paper is a novel, closed-form solution to estimate the absolute scale of the generated visual map from inertial and altitude measurements. In an extensive set of experiments, we demonstrate that our system is able to navigate in previously unknown environments at absolute scale without requiring artificial markers or external sensors. Furthermore, we show (1) its robustness to temporary loss of visual tracking and significant delays in the communication process, (2) the elimination of odometry drift as a result of the visual SLAM system and (3) accurate, scale-aware pose estimation and navigation.
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Citations
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
Minimum snap trajectory generation and control for quadrotors
Mellinger, D., & Kumar, V. (2011) · 2011 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2011.5980409 · Cited by 2,367
Trajectory generation and control for precise aggressive maneuvers with quadrotors
Mellinger, D., Michael, N., & Kumar, V. (2012) · The International Journal of Robotics Research · doi:10.1177/0278364911434236 · Cited by 884
Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera
Huang, A. S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., & Roy, N. (2017) · Springer Tracts in Advanced Robotics · doi:10.1007/978-3-319-29363-9_14 · Cited by 603
Vision based MAV navigation in unknown and unstructured environments
Blösch, M., Weiss, S., Scaramuzza, D., & Siegwart, R. (2010) · 2010 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2010.5509920 · Cited by 428
Onboard IMU and monocular vision based control for MAVs in unknown in- and outdoor environments
Achtelik, M., Achtelik, M., Weiss, S., & Siegwart, R. (2011) · 2011 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2011.5980343 · Cited by 295
Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM
Nützi, G., Weiss, S., Scaramuzza, D., & Siegwart, R. (2011) · Journal of Intelligent & Robotic Systems · doi:10.1007/s10846-010-9490-z · Cited by 286
A simple learning strategy for high-speed quadrocopter multi-flips
Lupashin, S., Schöllig, A., Sherback, M., & D'Andrea, R. (2010) · 2010 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2010.5509452 · Cited by 278
Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments
Achtelik, M., Bachrach, A., He, R., Prentice, S., & Roy, N. (2009) · SPIE Proceedings · doi:10.1117/12.819082 · Cited by 266
Construction of Cubic Structures with Quadrotor Teams
Lindsey, Q., Mellinger, D., & Kumar, V. (2011) · doi:10.15607/rss.2011.vii.025 · Cited by 265
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
Self-citationShakeri, R., Al-Garadi, M. A., Badawy, A., Mohamed, A., Khattab, T., Al-Ali, A. K., Harras, K. A., & Guizani, M. (2019) · IEEE Communications Surveys & Tutorials · doi:10.1109/comst.2019.2924143 · Cited by 295
Large-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
Self-citationDense RGB-D-inertial SLAM with map deformations
Laidlow, T., Bloesch, M., Li, W., & Leutenegger, S. (2017) · 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206591 · Cited by 61
Metadata
- Authors
- Engel, J., Sturm, J., & Cremers, D.
- Venue
- 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2012-10
- Pages
- 2815-2821
- OpenAlex
- W1975713381
- Cited by
- 349
- References
- 19
- FWCI
- 69.30
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Engel, J., Sturm, J., & Cremers, D. (2012). Camera-based navigation of a low-cost quadrocopter. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/iros.2012.6385458
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
