Jurnal Internasional Ilmu Komp

Sage Publication : The International Journal of Robotics Research

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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 (Prentice and Roy 2009), 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.

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Ketersediaan

Informasi Detail

Judul Seri

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No. Panggil

EJ1.9

Penerbit

: Sage Publication., 2012

Deskripsi Fisik

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Bahasa

English

ISBN/ISSN

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Klasifikasi

EJ1.9

Tipe Isi

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Tipe Media

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Tipe Pembawa

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Edisi

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Subjek

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Info Detail Spesifik

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Pernyataan Tanggungjawab

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Versi lain/terkait

Lampiran Berkas

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