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Monocular vision for long-term micro aerial vehicle state estimation: A compendium

Weiss, Stephan; Achtelik, Markus W.; Lynen, Simon; Achtelik, Michael C.; Kneip, Laurent; Chli, Margarita; Siegwart, Roland


The recent technological advances in Micro Aerial Vehicles (MAVs) have triggered great interest in the robotics community, as their deployability in missions of surveillance and reconnaissance has now become a realistic prospect. The state of the art, however, still lacks solutions that can work for a long duration in large, unknown, and GPS-denied environments. Here, we present our visual pipeline and MAV state-estimation framework, which uses feeds from a monocular camera and an Inertial...[Show more]

CollectionsANU Research Publications
Date published: 2013
Type: Journal article
Source: Journal of Field Robotics
DOI: 10.1002/rob.21466


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