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Cited by 266

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 access
Achtelik, Markus, Bachrach, Abraham, He, Ruijie, Prentice, Samuel, Roy, Nicholas·2009·SPIE Proceedings
DOI 10.1117/12.819082
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Abstract

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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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)
DOI
10.1117/12.819082
OpenAlex
W2098836126
Cited by
266
References
6
FWCI
41.12
Type
conference paper
Language
en
Open access
green

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