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Keyframe-based Visual-Inertial SLAM using Nonlinear Optimization
(2013)Proceedings of Robotis Science and Systems (RSS) 2013Conference Paper -
Robust Real-Time Visual Odometry with a Single Camera and an IMU
(2011)Proceedings of the British Machine Vision Conference 2011Conference Paper -
Versatile Distributed Pose Estimation and Sensor Self-Calibration for an Autonomous MAV
(2012)2012 IEEE International Conference on Robotics and AutomationIn this paper, we present a versatile framework to enable autonomous flights of a Micro Aerial Vehicle (MAV) which has only slow, noisy, delayed and possibly arbitrarily scaled measurements available. Using such measurements directly for position control would be practically impossible as MAVs exhibit great agility in motion. In addition, these measurements often come from a selection of different onboard sensors, hence accurate calibration ...Conference Paper -
Real-time Onboard Visual-Inertial State Estimation and Self-Calibration of MAVs in Unknown Environments
(2012)2012 IEEE International Conference on Robotics and AutomationThe combination of visual and inertial sensors has proved to be very popular in robot navigation and, in particular, Micro Aerial Vehicle (MAV) navigation due the flexibility in weight, power consumption and low cost it offers. At the same time, coping with the big latency between inertial and visual measurements and processing images in real-time impose great research challenges. Most modern MAV navigation systems avoid to explicitly ...Conference Paper