{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,16]],"date-time":"2026-06-16T10:43:08Z","timestamp":1781606588259,"version":"3.54.5"},"reference-count":38,"publisher":"Springer Science and Business Media LLC","issue":"6","license":[{"start":{"date-parts":[[2018,10,31]],"date-time":"2018-10-31T00:00:00Z","timestamp":1540944000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2019,8]]},"DOI":"10.1007\/s10514-018-9816-4","type":"journal-article","created":{"date-parts":[[2018,10,31]],"date-time":"2018-10-31T09:55:18Z","timestamp":1540979718000},"page":"1605-1622","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":22,"title":["Autonomous flight with robust visual odometry under dynamic lighting conditions"],"prefix":"10.1007","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5605-8848","authenticated-orcid":false,"given":"Pyojin","family":"Kim","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4647-8424","authenticated-orcid":false,"given":"Hyeonbeom","family":"Lee","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6819-1136","authenticated-orcid":false,"given":"H. Jin","family":"Kim","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2018,10,31]]},"reference":[{"key":"9816_CR1","unstructured":"Achtelik, M., Achtelik, M., et al. (2012). Sfly: Swarm of micro flying robots. In: 2012 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 2649\u20132650). IEEE."},{"issue":"2","key":"9816_CR2","doi-asserted-by":"publisher","first-page":"444","DOI":"10.1109\/LRA.2016.2635686","volume":"2","author":"H Alismail","year":"2017","unstructured":"Alismail, H., Kaess, M., Browning, B., & Lucey, S. (2017). Direct visual odometry in low light using binary descriptors. IEEE Robotics and Automation Letters, 2(2), 444\u2013451.","journal-title":"IEEE Robotics and Automation Letters"},{"key":"9816_CR3","unstructured":"Benhimane, S., & Malis, E. (2004). Real-time image-based tracking of planes using efficient second-order minimization. In: 2004 IEEE\/RSJ international conference on intelligent robots and systems, 2004. IROS 2004. Proceedings (Vol. 1, pp 943\u2013948). IEEE."},{"issue":"2","key":"9816_CR4","doi-asserted-by":"publisher","first-page":"627","DOI":"10.1109\/LRA.2017.2777002","volume":"3","author":"P Bergmann","year":"2018","unstructured":"Bergmann, P., Wang, R., & Cremers, D. (2018). Online photometric calibration of auto exposure video for realtime visual odometry and slam. IEEE Robotics and Automation Letters, 3(2), 627\u2013634.","journal-title":"IEEE Robotics and Automation Letters"},{"key":"9816_CR5","unstructured":"Blanco, J. L. (2010). A tutorial on se (3) transformation parameterizations and on-manifold optimization (p. 3). University of Malaga, Tech Rep."},{"key":"9816_CR6","doi-asserted-by":"publisher","first-page":"1157","DOI":"10.1177\/0278364915620033","volume":"35","author":"M Burri","year":"2016","unstructured":"Burri, M., & Nikolic, J. (2016). The EuRoc micro aerial vehicle datasets. The International Journal of Robotics Research, 35, 1157\u20131163.","journal-title":"The International Journal of Robotics Research"},{"issue":"5","key":"9816_CR7","doi-asserted-by":"publisher","first-page":"932","DOI":"10.1109\/TRO.2008.2003276","volume":"24","author":"J Civera","year":"2008","unstructured":"Civera, J., Davison, A. J., & Montiel, J. M. (2008). Inverse depth parametrization for monocular slam. IEEE Transactions on Robotics, 24(5), 932\u2013945.","journal-title":"IEEE Transactions on Robotics"},{"key":"9816_CR8","unstructured":"Engel, J., Sch\u00f6ps, T., & Cremers, D. (2014). LSD-SLAM: Large-scale direct monocular slam. In: European Conference on Computer Vision (pp. 834\u2013849). Springer."},{"key":"9816_CR9","unstructured":"Engel, J., St\u00fcckler, J., & Cremers, D. (2015). Large-scale direct slam with stereo cameras. In: 2015 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 1935\u20131942). IEEE."},{"issue":"3","key":"9816_CR10","doi-asserted-by":"publisher","first-page":"611","DOI":"10.1109\/TPAMI.2017.2658577","volume":"40","author":"J Engel","year":"2018","unstructured":"Engel, J., Koltun, V., & Cremers, D. (2018). Direct sparse odometry. IEEE Transactions on Pattern Analysis and Machine Intelligence, 40(3), 611\u2013625.","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"9816_CR11","unstructured":"Fang, Z., & Scherer, S. (2014). Experimental study of odometry estimation methods using RGB-D cameras. In: IROS (pp. 680\u2013687). IEEE."},{"key":"9816_CR12","unstructured":"Forster, C., Pizzoli, M., & Scaramuzza, D. (2014). SVO: Fast semi-direct monocular visual odometry. In: 2014 IEEE international conference on robotics and automation (ICRA) (pp. 15\u201322). IEEE."},{"issue":"2","key":"9816_CR13","doi-asserted-by":"publisher","first-page":"249","DOI":"10.1109\/TRO.2016.2623335","volume":"33","author":"C Forster","year":"2017","unstructured":"Forster, C., Zhang, Z., Gassner, M., Werlberger, M., & Scaramuzza, D. (2017). SVO: Semidirect visual odometry for monocular and multicamera systems. IEEE Transactions on Robotics, 33(2), 249\u2013265.","journal-title":"IEEE Transactions on Robotics"},{"key":"9816_CR14","unstructured":"Geiger, A., Roser, M., & Urtasun, R. (2010). Efficient large-scale stereo matching. In: Asian conference on computer vision (pp. 25\u201338). Springer."},{"key":"9816_CR15","unstructured":"Geiger, A., Ziegler, J., & Stiller, C. (2011). Stereoscan: Dense 3d reconstruction in real-time. In: 2011 IEEE Intelligent Vehicles Symposium (IV) (pp. 963\u2013968). IEEE."},{"key":"9816_CR16","unstructured":"Huang, A. S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., et al. (2011). Visual odometry and mapping for autonomous flight using an RGB-D camera. In: ISRR, pp. 1\u201316."},{"key":"9816_CR17","unstructured":"Jin, H., Favaro, P., & Soatto, S. (2001). Real-time feature tracking and outlier rejection with changes in illumination. In ICCV, pp. 684\u2013689."},{"key":"9816_CR18","unstructured":"Kerl, C. (2012). Odometry from RGB-D cameras for autonomous quadrocopters. Master\u2019s thesis, Technical University Munich, Germany."},{"key":"9816_CR19","unstructured":"Kerl, C., Sturm, J., & Cremers, D. (2013). Robust odometry estimation for RGB-D cameras. In: 2013 IEEE international conference on robotics and automation (ICRA) (pp. 3748\u20133754). IEEE."},{"key":"9816_CR20","unstructured":"Kerl, C., Souiai, M., Sturm, J., & Cremers, D. (2014). Towards illumination-invariant 3D reconstruction using ToF RGB-D cameras. In: 3DV."},{"key":"9816_CR21","unstructured":"Kim, P., Lim, H., & Kim, H. J. (2015). Robust visual odometry to irregular illumination changes with RGB-D camera. In: 2015 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 3688\u20133694). IEEE."},{"key":"9816_CR22","unstructured":"Kitt, B., Geiger, A., & Lategahn, H. (2010). Visual odometry based on stereo image sequences with ransac-based outlier rejection scheme. In: 2010 IEEE Intelligent Vehicles Symposium (IV) (pp. 486\u2013492). IEEE."},{"key":"9816_CR23","unstructured":"Klose, S., Heise, P., & Knoll, A. (2013). Efficient compositional approaches for real-time robust direct visual odometry from RGB-D data. In: 2013 IEEE\/RSJ international conference on intelligent robots and systems (pp. 1100\u20131106). IEEE."},{"key":"9816_CR24","unstructured":"Krombach, N., Droeschel, D., & Behnke, S. (2016). Combining feature-based and direct methods for semi-dense real-time stereo visual odometry. In: International conference on intelligent autonomous systems (pp. 855\u2013868). Springer."},{"issue":"1","key":"9816_CR25","doi-asserted-by":"publisher","first-page":"189","DOI":"10.1109\/TASE.2016.2605707","volume":"15","author":"H Lee","year":"2018","unstructured":"Lee, H., Kim, H., & Kim, H. J. (2018). Planning and control for collision-free cooperative aerial transportation. IEEE Transactions on Automation Science and Engineering, 15(1), 189\u2013201.","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"key":"9816_CR26","volume-title":"An invitation to 3-d vision: From images to geometric models","author":"Y Ma","year":"2012","unstructured":"Ma, Y., Soatto, S., Kosecka, J., & Sastry, S. S. (2012). An invitation to 3-d vision: From images to geometric models (Vol. 26). Berlin: Springer."},{"issue":"3","key":"9816_CR27","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1002\/rob.20184","volume":"24","author":"M Maimone","year":"2007","unstructured":"Maimone, M., Cheng, Y., & Matthies, L. (2007). Two years of visual odometry on the mars exploration rovers. Journal of Field Robotics, 24(3), 169\u2013186.","journal-title":"Journal of Field Robotics"},{"issue":"5","key":"9816_CR28","doi-asserted-by":"publisher","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","volume":"31","author":"R Mur-Artal","year":"2015","unstructured":"Mur-Artal, R., Montiel, J., & Tard\u00f3s, J. D. (2015). ORB-SLAM: A versatile and accurate monocular slam system. IEEE Transactions on Robotics, 31(5), 1147\u20131163.","journal-title":"IEEE Transactions on Robotics"},{"key":"9816_CR29","unstructured":"Nikolic, J., Rehder, J., et al. (2014). A synchronized visual-inertial sensor system with FPGA pre-processing for accurate real-time slam. In: 2014 IEEE international conference on robotics and automation (ICRA) (pp. 431\u2013437). IEEE."},{"key":"9816_CR30","unstructured":"Nist\u00e9r, D., Naroditsky, O., & Bergen, J. (2004). Visual odometry. In: Proceedings of the 2004 IEEE computer society conference on computer vision and pattern recognition, 2004. CVPR 2004 (Vol. 1, pp. I\u2013I). IEEE."},{"key":"9816_CR31","unstructured":"Park, S., Sch\u00f6ps, T., & Pollefeys, M. (2017). Illumination change robustness in direct visual slam. In: 2017 IEEE international conference on robotics and automation (ICRA) (pp. 4523\u20134530). IEEE."},{"issue":"3","key":"9816_CR32","doi-asserted-by":"publisher","first-page":"26","DOI":"10.1109\/MRA.2014.2322295","volume":"21","author":"D Scaramuzza","year":"2014","unstructured":"Scaramuzza, D., Achtelik, M., et al. (2014). Vision-controlled micro flying robots: From system design to autonomous navigation and mapping in GPS-denied environments. IEEE Robotics & Automation Magazine, 21(3), 26\u201340.","journal-title":"IEEE Robotics & Automation Magazine"},{"issue":"4","key":"9816_CR33","doi-asserted-by":"publisher","first-page":"80","DOI":"10.1109\/MRA.2011.943233","volume":"18","author":"D Scaramuzza","year":"2011","unstructured":"Scaramuzza, D., & Fraundorfer, F. (2011). Visual odometry [tutorial]. IEEE Robotics & Automation Magazine, 18(4), 80\u201392.","journal-title":"IEEE Robotics & Automation Magazine"},{"key":"9816_CR34","unstructured":"Sturm, J., et al. (2012). A benchmark for the evaluation of RGB-D slam systems. In: 2012 IEEE\/RSJ international conference on intelligent robots and systems (pp. 573\u2013580). IEEE."},{"key":"9816_CR35","unstructured":"Valenti, R. G., et al. (2014). Autonomous quadrotor flight using onboard RGB-D visual odometry. In: 2014 IEEE International Conference on Robotics and Automation (ICRA) (pp. 5233\u20135238). IEEE."},{"key":"9816_CR36","unstructured":"von Stumberg, L., Usenko, V., Engel, J., St\u00fcckler, J., & Cremers, D. (2016). Autonomous exploration with a low-cost quadrocopter using semi-dense monocular slam. ArXiv preprint \n                    arXiv:1609.07835\n                    \n                  ."},{"key":"9816_CR37","unstructured":"Wang, R., Schw\u00f6rer, M., & Cremers, D. (2017). Stereo DSO: Large-scale direct sparse visual odometry with stereo cameras. In: International conference on computer vision (ICCV), Venice, Italy."},{"issue":"1","key":"9816_CR38","doi-asserted-by":"publisher","first-page":"31","DOI":"10.1007\/s10514-015-9525-1","volume":"41","author":"J Zhang","year":"2017","unstructured":"Zhang, J., Kaess, M., & Singh, S. (2017). A real-time method for depth enhanced visual odometry. Autonomous Robots, 41(1), 31\u201343.","journal-title":"Autonomous Robots"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-018-9816-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-018-9816-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-018-9816-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,12,16]],"date-time":"2019-12-16T11:59:46Z","timestamp":1576497586000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-018-9816-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,10,31]]},"references-count":38,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2019,8]]}},"alternative-id":["9816"],"URL":"https:\/\/doi.org\/10.1007\/s10514-018-9816-4","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,10,31]]},"assertion":[{"value":"29 December 2017","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"6 October 2018","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"31 October 2018","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}