Efficient onbard RGBD-SLAM for autonomous MAVs

@article{Scherer2013EfficientOR,
  title={Efficient onbard RGBD-SLAM for autonomous MAVs},
  author={Sebastian Scherer and Andreas Zell},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={1062-1068}
}
We present a computationally inexpensive RGBD-SLAM solution taylored to the application on autonomous MAVs, which enables our MAV to fly in an unknown environment and create a map of its surroundings completely autonomously, with all computations running on its onboard computer. We achieve this by implementing efficient methods for both tracking its current location with respect to a heavily processed previously seen RGBD image (keyframe) and efficient relative registration of a set of… CONTINUE READING
Highly Cited
This paper has 30 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 21 extracted citations

References

Publications referenced by this paper.
Showing 1-10 of 18 references

Similar Papers

Loading similar papers…