Estimation, planning, and mapping for autonomous flight using an RGB-D camera in GPS-denied environments

Estimation, planning, and mapping for autonomous flight using an RGB-D camera in GPS-denied environments

RGB-D cameras provide both color images and per-pixel depth estimates. The richness of this data and the recent development of low-cost sensors have combined to present an attractive opportunity for mobile robotics research. In this paper, we describe a system for visual odometry and mapping using a...

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Bibliographic Details
Main Authors: Bachrach, Abraham Galton (Contributor), Prentice, Samuel James (Contributor), He, Ruijie (Contributor), Huang, Albert S. (Contributor), Roy, Nicholas (Contributor), Henry, Peter (Author), Krainin, Michael (Author), Maturana, Daniel (Author), Fox, Dieter (Author)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Aeronautics and Astronautics (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor)
Format: Article
Language:English
Published: Sage Publications, 2013-10-30T15:04:10Z.
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