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Visual-inertial SLAM for a small helicopter in large outdoor environments

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

Description

In this video, we present our latest results towards fully autonomous flights with a small helicopter. Using a monocular camera as the only exteroceptive sensor, we fuse inertial measurements to achieve a self-calibrating power-on-and-go system, able to perform autonomous flights in previously unknown, large, outdoor spaces. Our framework achieves Simultaneous Localization And Mapping (SLAM) with previously unseen robustness in onboard aerial navigation for small platforms with natural...[Show more]

CollectionsANU Research Publications
Date published: 2012
Type: Conference paper
URI: http://hdl.handle.net/1885/72493
DOI: 10.1109/IROS.2012.6386270

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