{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T13:18:43Z","timestamp":1762521523838,"version":"3.38.0"},"reference-count":80,"publisher":"SAGE Publications","issue":"11","license":[{"start":{"date-parts":[[2012,9,1]],"date-time":"2012-09-01T00:00:00Z","timestamp":1346457600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2012,9]]},"abstract":"<jats:p> 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 an RGB-D camera, and its application to autonomous flight. By leveraging results from recent state-of-the-art algorithms and hardware, our system enables 3D flight in cluttered environments using only onboard sensor data. All computation and sensing required for local position control are performed onboard the vehicle, reducing the dependence on an unreliable wireless link to a ground station. However, even with accurate 3D sensing and position estimation, some parts of the environment have more perceptual structure than others, leading to state estimates that vary in accuracy across the environment. If the vehicle plans a path without regard to how well it can localize itself along that path, it runs the risk of becoming lost or worse. We show how the belief roadmap algorithm prentice2009belief, a belief space extension of the probabilistic roadmap algorithm, can be used to plan vehicle trajectories that incorporate the sensing model of the RGB-D camera. We evaluate the effectiveness of our system for controlling a quadrotor micro air vehicle, demonstrate its use for constructing detailed 3D maps of an indoor environment, and discuss its limitations. <\/jats:p>","DOI":"10.1177\/0278364912455256","type":"journal-article","created":{"date-parts":[[2012,9,11]],"date-time":"2012-09-11T21:44:24Z","timestamp":1347399864000},"page":"1320-1343","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":130,"title":["Estimation, planning, and mapping for autonomous flight using an RGB-D camera in GPS-denied environments"],"prefix":"10.1177","volume":"31","author":[{"given":"Abraham","family":"Bachrach","sequence":"first","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA"}]},{"given":"Samuel","family":"Prentice","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA"}]},{"given":"Ruijie","family":"He","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA"}]},{"given":"Peter","family":"Henry","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Engineering, University of Washington, USA"}]},{"given":"Albert S","family":"Huang","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA"}]},{"given":"Michael","family":"Krainin","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Engineering, University of Washington, USA"}]},{"given":"Daniel","family":"Maturana","sequence":"additional","affiliation":[{"name":"The Robotics Institute, Carnegie Mellon University, USA"}]},{"given":"Dieter","family":"Fox","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Engineering, University of Washington, USA"}]},{"given":"Nicholas","family":"Roy","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA"}]}],"member":"179","published-online":{"date-parts":[[2012,9,11]]},"reference":[{"key":"bibr1-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-0348-8081-7"},{"key":"bibr2-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1117\/12.819082"},{"key":"bibr3-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152680"},{"key":"bibr4-0278364912455256","first-page":"472","volume-title":"Workshop proceedings of SIMPAR","author":"Angeletti G","year":"2008"},{"key":"bibr5-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1260\/175682909790291492"},{"journal-title":"Proceedings of EMAV","year":"2009","author":"Bachrach A","key":"bibr6-0278364912455256"},{"key":"bibr7-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20400"},{"volume-title":"IEEE international conference on robotics and automation","year":"2004","author":"Benhimane S","key":"bibr8-0278364912455256"},{"key":"bibr9-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509920"},{"journal-title":"Proceedings of AIPS","year":"2000","author":"Bonet B","key":"bibr10-0278364912455256"},{"journal-title":"Proceedings of ICRA","year":"1999","author":"Boor V","key":"bibr11-0278364912455256"},{"key":"bibr12-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.05.007"},{"journal-title":"Proceedings of ICRA","year":"2011","author":"Bry A","key":"bibr13-0278364912455256"},{"issue":"2","key":"bibr14-0278364912455256","first-page":"8","volume":"15","author":"Buskey G","year":"2004","journal-title":"Computing Control Engineering Journal"},{"key":"bibr15-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-88682-2_6"},{"key":"bibr16-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/EIT.2008.4554326"},{"journal-title":"SIGGRAPH","year":"1996","author":"Debevec P","key":"bibr17-0278364912455256"},{"volume-title":"Theory of Optimal Experiments","year":"1972","author":"Fedorov V","key":"bibr18-0278364912455256"},{"key":"bibr19-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2009.5459145"},{"key":"bibr20-0278364912455256","first-page":"1362","author":"Furukawa Y","year":"2009","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"journal-title":"Proceedings of ICRA","year":"2007","author":"Gonzalez J","key":"bibr21-0278364912455256"},{"key":"bibr22-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399030"},{"key":"bibr23-0278364912455256","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2007.III.009"},{"key":"bibr24-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152446"},{"journal-title":"Proceedings of ICRA","year":"2007","author":"Gurdan D","key":"bibr25-0278364912455256"},{"key":"bibr26-0278364912455256","doi-asserted-by":"publisher","DOI":"10.5244\/C.2.23"},{"journal-title":"Proceedings of ICRA","year":"2008","author":"He R","key":"bibr27-0278364912455256"},{"key":"bibr28-0278364912455256","first-page":"1814","volume-title":"IEEE international conference on robotics and automation","author":"He R","year":"2008"},{"volume-title":"International symposium on experimental robotics","year":"2010","author":"Henry P","key":"bibr29-0278364912455256"},{"key":"bibr30-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/ICARCV.2002.1238577"},{"key":"bibr31-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1364\/JOSAA.4.000629"},{"key":"bibr32-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651147"},{"journal-title":"Proceedings of ICRA","year":"2003","author":"Hsu D","key":"bibr33-0278364912455256"},{"key":"bibr34-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906067174"},{"volume-title":"Proceedings of the international symposium of robotics research (ISRR)","year":"2011","author":"Huang AS","key":"bibr35-0278364912455256"},{"key":"bibr36-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543184"},{"journal-title":"Proceedings of ACC","year":"1995","author":"Julier S","key":"bibr37-0278364912455256"},{"key":"bibr38-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006706"},{"key":"bibr39-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"bibr40-0278364912455256","doi-asserted-by":"publisher","DOI":"10.3182\/20070903-3-FR-2921.00036"},{"volume-title":"ISPRS workshop laser scanning","year":"2011","author":"Khoshelham K","key":"bibr41-0278364912455256"},{"key":"bibr42-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVW.2009.5457430"},{"journal-title":"Proceedings of IROS","year":"2007","author":"Ko J","key":"bibr43-0278364912455256"},{"key":"bibr44-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907087426"},{"key":"bibr45-0278364912455256","doi-asserted-by":"publisher","DOI":"10.5244\/C.24.102"},{"volume-title":"International symposium on robotics research","year":"2007","author":"Konolige K","key":"bibr46-0278364912455256"},{"key":"bibr47-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/70.88147"},{"key":"bibr48-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/TC.1983.1676196"},{"key":"bibr49-0278364912455256","doi-asserted-by":"publisher","DOI":"10.5244\/C.23.54"},{"key":"bibr50-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980229"},{"key":"bibr51-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20115"},{"key":"bibr52-0278364912455256","unstructured":"Moravec H (1980) Obstacle avoidance and navigation in the real world by a seeing robot rover. PhD thesis, Stanford University."},{"key":"bibr53-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.878947"},{"key":"bibr54-0278364912455256","first-page":"1498","author":"Newcombe R","year":"2010","journal-title":"Computer vision and pattern recognition"},{"key":"bibr55-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909341483"},{"key":"bibr56-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1007\/s00138-005-0006-y"},{"key":"bibr57-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2004.1315094"},{"journal-title":"Computer vision and pattern recognition","year":"2006","author":"Nist\u00e9r D","key":"bibr58-0278364912455256"},{"key":"bibr59-0278364912455256","first-page":"2262","volume-title":"IEEE international conference on robotics and automation","author":"Olson E","year":"2006"},{"journal-title":"Proceedings of IJCAI","year":"2003","author":"Pineau J","key":"bibr60-0278364912455256"},{"key":"bibr61-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-007-0086-4"},{"journal-title":"Proceedings of ISRR","year":"2007","author":"Prentice S","key":"bibr62-0278364912455256"},{"key":"bibr63-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909341659"},{"key":"bibr64-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1007\/11744023_34"},{"issue":"1","key":"bibr65-0278364912455256","first-page":"47","volume":"13","author":"Se S","year":"2008","journal-title":"International Journal of Intelligent Control and Systems"},{"key":"bibr66-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1177\/027836402761412467"},{"key":"bibr67-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980357"},{"journal-title":"Proceedings of UAI","year":"2004","author":"Smith T","key":"bibr68-0278364912455256"},{"key":"bibr69-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1145\/1141911.1141964"},{"key":"bibr70-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004521"},{"key":"bibr71-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354708"},{"key":"bibr72-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-78317-6_20"},{"journal-title":"Proceedings of ICRA","year":"1992","author":"Takeda H","key":"bibr73-0278364912455256"},{"journal-title":"Proceedings of FSR","year":"2003","author":"Thrun S","key":"bibr74-0278364912455256"},{"key":"bibr75-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(01)00069-8"},{"key":"bibr76-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904045479"},{"key":"bibr77-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-44480-7_21"},{"journal-title":"Proceedings of AIAA GNC","year":"2006","author":"Valenti M","key":"bibr78-0278364912455256"},{"journal-title":"Proceedings of robotics: Science and systems","year":"2010","author":"Van den Berg J","key":"bibr79-0278364912455256"},{"key":"bibr80-0278364912455256","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.681416"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364912455256","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364912455256","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,2]],"date-time":"2025-03-02T10:57:23Z","timestamp":1740913043000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364912455256"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,9]]},"references-count":80,"journal-issue":{"issue":"11","published-print":{"date-parts":[[2012,9]]}},"alternative-id":["10.1177\/0278364912455256"],"URL":"https:\/\/doi.org\/10.1177\/0278364912455256","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[2012,9]]}}}