Roland Brockers

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—Autonomous landing is an essential function for mi-cro air vehicles (MAVs) for many scenarios. We pursue an active perception strategy that enables MAVs with limited onboard sensing and processing capabilities to concurrently assess feasible rooftop landing sites with a vision-based perception system while generating trajectories that balance continued(More)
— In this paper, we describe a novel approach in fusing optical flow with inertial cues (3D acceleration and 3D angular velocities) in order to navigate a Micro Aerial Vehicle (MAV) drift free in 4DoF and metric velocity. Our approach only requires two consecutive images with a minimum of three feature matches. It does not require any (point) map nor any(More)
Micro air vehicles such as miniature rotorcrafts require high-precision and fast localization updates for their control , but cannot carry large payloads. Therefore, only small and lightweight sensors and processing units can be deployed on such platforms, favoring vision-based solutions that use light weight cameras and run on small embedded computing(More)
— Fusing data from multiple sensors on-board a mobile platform can significantly augment its state estimation abilities and enable autonomous traversals of different domains by adapting to changing signal availabilities. However, due to the need for accurate calibration and initialization of the sensor ensemble as well as coping with erroneous measurements(More)