The DOI matches its Crossref record; 6 of the 6 references it cites were found in a registry or an index.
Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments
Open accessAbstract
This paper presents our solution for enabling a quadrotor helicopter to autonomously navigate unstructured and unknown indoor environments. We compare two sensor suites, specifically a laser rangefinder and a stereo camera. Laser and camera sensors are both well-suited for recovering the helicopter's relative motion and velocity. Because they use different cues from the environment, each sensor has its own set of advantages and limitations that are complimentary to the other sensor. Our eventual goal is to integrate both sensors on-board a single helicopter platform, leading to the development of an autonomous helicopter system that is robust to generic indoor environmental conditions. In this paper, we present results in this direction, describing the key components for autonomous navigation using either of the two sensors separately.
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Cites
Distinctive Image Features from Scale-Invariant Keypoints
Lowe, D. G. (2004) · International Journal of Computer Vision · doi:10.1023/b:visi.0000029664.99615.94 · Cited by 55,589
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
A Combined Corner and Edge Detector
Harris, C., & Stephens, M. (1988) · Procedings of the Alvey Vision Conference 1988 · doi:10.5244/c.2.23 · Cited by 12,901
Machine Learning for High-Speed Corner Detection
Rosten, E., & Drummond, T. (2006) · Lecture Notes in Computer Science · doi:10.1007/11744023_34 · Cited by 4,555
Bundle Adjustment — A Modern Synthesis
Triggs, B., McLauchlan, P. F., Hartley, R. I., & Fitzgibbon, A. W. (2000) · Lecture Notes in Computer Science · doi:10.1007/3-540-44480-7_21 · Cited by 3,988
Robust Monte Carlo localization for mobile robots
Thrun, S., Fox, D., Burgard, W., & Dellaert, F. (2001) · Artificial Intelligence · doi:10.1016/s0004-3702(01)00069-8 · Cited by 1,809
Cited by
Monocular‐SLAM–based navigation for autonomous micro helicopters in GPS‐denied environments
Weiss, S., Scaramuzza, D., & Siegwart, R. (2011) · Journal of Field Robotics · doi:10.1002/rob.20412 · Cited by 414
Camera-based navigation of a low-cost quadrocopter
Engel, J., Sturm, J., & Cremers, D. (2012) · 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2012.6385458 · Cited by 349
Advances in intelligent and autonomous navigation systems for small UAS
Bijjahalli, S., Sabatini, R., & Gardi, A. (2020) · Progress in Aerospace Sciences · doi:10.1016/j.paerosci.2020.100617 · Cited by 123
Metadata
- Authors
- Achtelik, M., Bachrach, A., He, R., Prentice, S., & Roy, N.
- Venue
- SPIE Proceedings
- Publisher
- SPIE
- Published
- 2009-05-01
- Volume
- 7332
- Pages
- 733219-733219
- ISSN
- 0277-786X (ISSN-L)
- OpenAlex
- W2098836126
- Cited by
- 266
- References
- 6
- FWCI
- 41.12
- Type
- conference paper
- Language
- en
- Open access
- green
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- Achtelik, M., Bachrach, A., He, R., Prentice, S., & Roy, N. (2009). Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments. SPIE Proceedings. https://doi.org/10.1117/12.819082
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