Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

30 Nov 2017Ke SunKartik MohtaBernd PfrommerMichael WattersonSikang LiuYash MulgaonkarCamillo J. TaylorVijay Kumar

In recent years, vision-aided inertial odometry for state estimation has matured significantly. However, we still encounter challenges in terms of improving the computational efficiency and robustness of the underlying algorithms for applications in autonomous flight with micro aerial vehicles in which it is difficult to use high quality sensors and pow- erful processors because of constraints on size and weight... (read more)

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