{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,14]],"date-time":"2026-04-14T21:42:41Z","timestamp":1776202961767,"version":"3.50.1"},"publisher-location":"Cham","reference-count":24,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783030954581","type":"print"},{"value":"9783030954598","type":"electronic"}],"license":[{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022]]},"DOI":"10.1007\/978-3-030-95459-8_35","type":"book-chapter","created":{"date-parts":[[2022,2,17]],"date-time":"2022-02-17T19:02:27Z","timestamp":1645124547000},"page":"575-592","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":37,"title":["Vision-Based Autonomous UAV Navigation and\u00a0Landing for\u00a0Urban Search and\u00a0Rescue"],"prefix":"10.1007","author":[{"given":"Mayank","family":"Mittal","sequence":"first","affiliation":[]},{"given":"Rohit","family":"Mohan","sequence":"additional","affiliation":[]},{"given":"Wolfram","family":"Burgard","sequence":"additional","affiliation":[]},{"given":"Abhinav","family":"Valada","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,2,17]]},"reference":[{"issue":"4","key":"35_CR1","doi-asserted-by":"publisher","first-page":"217","DOI":"10.1260\/175682909790291492","volume":"1","author":"A Bachrach","year":"2009","unstructured":"Bachrach, A., He, R., Roy, N.: Autonomous flight in unknown indoor environments. Int. J. Micro Air Veh. 1(4), 217\u2013228 (2009)","journal-title":"Int. J. Micro Air Veh."},{"key":"35_CR2","doi-asserted-by":"crossref","unstructured":"Bircher, A., Kamel, M., Alexis, K., et al.: Receding horizon \u201cnext-best-view\u201d planner for 3d exploration. In: Proceedings of the IEEE International Conference on Robotics and Automation (2016)","DOI":"10.1109\/ICRA.2016.7487281"},{"key":"35_CR3","doi-asserted-by":"crossref","unstructured":"Bloesch, M., et al.: Robust visual inertial odometry using a direct EKF-based approach. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (2015)","DOI":"10.1109\/IROS.2015.7353389"},{"key":"35_CR4","doi-asserted-by":"crossref","unstructured":"Bosch, S., et al.: Autonomous detection of safe landing areas for an UAV from monocular images. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (2006)","DOI":"10.1109\/IROS.2006.282188"},{"key":"35_CR5","doi-asserted-by":"crossref","unstructured":"Burri, M., et al.: Real-time visual-inertial mapping, re-localization and planning onboard MAVs in unknown environments. In: IROS (2015)","DOI":"10.1109\/IROS.2015.7353622"},{"key":"35_CR6","doi-asserted-by":"crossref","unstructured":"Desaraju, V.R., Michael, N., et al.: Vision-based landing site evaluation and trajectory generation toward rooftop landing. In: Proceedings of Robotics: Science and Systems (2014)","DOI":"10.15607\/RSS.2014.X.044"},{"key":"35_CR7","doi-asserted-by":"crossref","unstructured":"Falanga, D., Zanchettin, A., Simovic, A., et al.: Vision-based autonomous quadrotor landing on a moving platform. In: IEEE International Symposium on Safety, Security and Rescue Robotics (2017)","DOI":"10.1109\/SSRR.2017.8088164"},{"key":"35_CR8","doi-asserted-by":"crossref","unstructured":"Forster, C., et al.: Continuous on-board monocular-vision-based elevation mapping applied to autonomous landing. In: Proceedings of the IEEE International Conference on Robotics and Automation (2015)","DOI":"10.1109\/ICRA.2015.7138988"},{"issue":"1\u20132","key":"35_CR9","doi-asserted-by":"publisher","first-page":"89","DOI":"10.1002\/rob.20226","volume":"25","author":"MA Goodrich","year":"2008","unstructured":"Goodrich, M.A., Morse, B.S., Gerhardt, D., et al.: Supporting wilderness search and rescue using a camera-equipped mini UAV. J. Field Robot. 25(1\u20132), 89\u2013110 (2008)","journal-title":"J. Field Robot."},{"key":"35_CR10","unstructured":"Grocholsky, B., DeFranco, P., Cover, H., Singh, A., Singh, S.: Robust autonomous ship deck landing for rotorcraft. American Helicopter Society, Forum 72 (2016)"},{"issue":"3","key":"35_CR11","doi-asserted-by":"publisher","first-page":"2545","DOI":"10.1109\/LRA.2018.2809962","volume":"3","author":"T Hinzmann","year":"2018","unstructured":"Hinzmann, T., Stastny, T., Cadena, C., Siegwart, R., Gilitschenski, I.: Free LSD: prior-free visual landing site detection for autonomous planes. IEEE Robot. Autom. Lett. 3(3), 2545\u20132552 (2018)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"3","key":"35_CR12","doi-asserted-by":"publisher","first-page":"189","DOI":"10.1007\/s10514-012-9321-0","volume":"34","author":"A Hornung","year":"2013","unstructured":"Hornung, A., Wurm, K.M., Bennewitz, M., et al.: OctoMap: an efficient probabilistic 3D mapping framework based on octrees. Auton. Robot. 34(3), 189\u2013206 (2013). https:\/\/doi.org\/10.1007\/s10514-012-9321-0","journal-title":"Auton. Robot."},{"issue":"6","key":"35_CR13","doi-asserted-by":"publisher","first-page":"1091","DOI":"10.2514\/2.4988","volume":"25","author":"AE Johnson","year":"2002","unstructured":"Johnson, A.E., Klumpp, A.R., Collier, J.B., Wolf, A.A.: Lidar-based hazard avoidance for safe landing on Mars. J. Guidance Control Dyn. 25(6), 1091\u20131099 (2002)","journal-title":"J. Guidance Control Dyn."},{"key":"35_CR14","unstructured":"Mittal, M., Valada, A., Burgard, W.: Vision-based autonomous landing in catastrophe-struck environments. In: Workshop on Vision-Based Drones: What\u2019s Next? at the IEEE\/RSJ International Conference on Intelligent Robots and Systems (2018)"},{"key":"35_CR15","doi-asserted-by":"publisher","first-page":"1151","DOI":"10.1007\/978-3-540-30301-5_51","volume-title":"Springer Handbook of Robotics","author":"RR Murphy","year":"2008","unstructured":"Murphy, R.R., et al.: Search and rescue robotics. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics, pp. 1151\u20131173. Springer, Heidelberg (2008). https:\/\/doi.org\/10.1007\/978-3-540-30301-5_51"},{"key":"35_CR16","doi-asserted-by":"crossref","unstructured":"Nakagawa, Y., Uchiyama, H., et al.: Estimating surface normals with depth image gradients for fast and accurate registration. In: International Conference on 3D Vision (2015)","DOI":"10.1109\/3DV.2015.80"},{"key":"35_CR17","doi-asserted-by":"crossref","unstructured":"Nguyen, C.V., et al.: Modeling kinect sensor noise for improved 3D reconstruction and tracking. In: International Conference on 3D Imaging, Modeling, Processing, Visualization & Transmission (2012)","DOI":"10.1109\/3DIMPVT.2012.84"},{"issue":"1","key":"35_CR18","doi-asserted-by":"publisher","first-page":"199","DOI":"10.1007\/s10846-015-0274-3","volume":"84","author":"M Nieuwenhuisen","year":"2016","unstructured":"Nieuwenhuisen, M., et al.: Autonomous navigation for micro aerial vehicles in complex GNSS-denied environments. J. Intell. Robot. Syst. 84(1), 199\u2013216 (2016). https:\/\/doi.org\/10.1007\/s10846-015-0274-3","journal-title":"J. Intell. Robot. Syst."},{"key":"35_CR19","doi-asserted-by":"crossref","unstructured":"Oleynikova, H., et al.: Voxblox: incremental 3D euclidean signed distance fields for on-board MAV planning. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (2017)","DOI":"10.1109\/IROS.2017.8202315"},{"issue":"2","key":"35_CR20","first-page":"488","volume":"23","author":"J Park","year":"2014","unstructured":"Park, J., Kim, Y., Kim, S.: Landing site searching and selection algorithm development using vision system and its application to quadrotor. IEEE T-CST 23(2), 488\u2013503 (2014)","journal-title":"IEEE T-CST"},{"key":"35_CR21","series-title":"Springer Tracts in Advanced Robotics","doi-asserted-by":"publisher","first-page":"649","DOI":"10.1007\/978-3-319-28872-7_37","volume-title":"Robotics Research","author":"C Richter","year":"2016","unstructured":"Richter, C., Bry, A., Roy, N.: Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments. In: Inaba, M., Corke, P. (eds.) Robotics Research. STAR, vol. 114, pp. 649\u2013666. Springer, Cham (2016). https:\/\/doi.org\/10.1007\/978-3-319-28872-7_37"},{"key":"35_CR22","series-title":"Springer Proceedings in Advanced Robotics","doi-asserted-by":"publisher","first-page":"621","DOI":"10.1007\/978-3-319-67361-5_40","volume-title":"Field and Service Robotics","author":"S Shah","year":"2018","unstructured":"Shah, S., Dey, D., Lovett, C., Kapoor, A.: AirSim: high-fidelity visual and physical simulation for autonomous vehicles. In: Hutter, M., Siegwart, R. (eds.) Field and Service Robotics. SPAR, vol. 5, pp. 621\u2013635. Springer, Cham (2018). https:\/\/doi.org\/10.1007\/978-3-319-67361-5_40"},{"key":"35_CR23","doi-asserted-by":"crossref","unstructured":"Shi, D., et al.: Design of a small size biquad-UWB-patch-antenna and signal processing for detecting respiration. In: Progress in Electromagnetics Research Symposium - Fall (2017)","DOI":"10.1109\/PIERS-FALL.2017.8293425"},{"issue":"3","key":"35_CR24","doi-asserted-by":"publisher","first-page":"46","DOI":"10.1109\/MRA.2012.2206473","volume":"19","author":"T Tomic","year":"2012","unstructured":"Tomic, T., et al.: Toward a fully autonomous UAV: research platform for indoor and outdoor urban search and rescue. IEEE Robot. Autom. Mag. 19(3), 46\u201356 (2012)","journal-title":"IEEE Robot. Autom. Mag."}],"container-title":["Springer Proceedings in Advanced Robotics","Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-95459-8_35","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,2,17]],"date-time":"2022-02-17T19:07:11Z","timestamp":1645124831000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-030-95459-8_35"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022]]},"ISBN":["9783030954581","9783030954598"],"references-count":24,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-95459-8_35","relation":{},"ISSN":["2511-1256","2511-1264"],"issn-type":[{"value":"2511-1256","type":"print"},{"value":"2511-1264","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022]]},"assertion":[{"value":"17 February 2022","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ISRR","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"The International Symposium of Robotics Research","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Hanoi","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Vietnam","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2019","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"6 October 2019","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"10 October 2019","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"isrr2019","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/h2t-projects.webarchiv.kit.edu\/Projects\/ISRR2019\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}