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This paper presents a non-linear state observer-based integrated navigation scheme for estimating the attitude, position and velocity of micro aerial vehicles (MAV) operating in GPS-denied indoor environments, using the measurements from low-cost MEMS (micro electro-mechanical systems) inertial sensors and an RGB-D camera. A robust RGB-D visual odometry(More)
This paper presents a RGB-D aided inertial navigation system that uses RGB-D sensor and low cost inertial measurement sensors (IMU) to provide state estimates for micro aerial vehicles (MAV) in GPS-denied indoor environments. The state estimation approach is based on the invariant observer theory which is developed for systems possessing symmetries. In our(More)
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