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Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera
Springer Tracts in Advanced Robotics
RGB-D cameras provide both a color image and per-pixel depth estimates. The richness of their 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 usingdoi:10.1007/978-3-319-29363-9_14 fatcat:rszxizbt2vh37oxjkdcz7hevbm