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Real-time visual-inertial slam for multirotor platform



This thesis presents the theoretical and practical development of a framework that enables small-scale aerial vehicles to autonomously explore and map unknown environments. The increased demands of all-terrain navigational capability and full 6 Degrees-of- Freedom (DOF) solutions have driven the usage of Inertial Measurement Unit (IMU) and related Inertial Navigation System (INS). Unfortunately, the INS is a highly unstable system, containing three integrator loops coupled with the presence of...[Show more]

CollectionsOpen Access Theses
Date published: 2015
Type: Thesis (PhD)
DOI: 10.25911/5d611ef2cf58a
Access Rights: Open Access


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