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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

Description

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
URI: http://hdl.handle.net/1885/72052
Source: Journal of Field Robotics
DOI: 10.1002/rob.21466

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