Autonomous quadrotor flight using onboard RGB-D visual odometry

@article{Valenti2014AutonomousQF,
  title={Autonomous quadrotor flight using onboard RGB-D visual odometry},
  author={Roberto G. Valenti and Ivan Dryanovski and Carlos Jaramillo and Daniel Perea Strom and Jizhong Xiao},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2014},
  pages={5233-5238}
}
In this paper we present a navigation system for Micro Aerial Vehicles (MAV) based on information provided by a visual odometry algorithm processing data from an RGB-D camera. The visual odometry algorithm uses an uncertainty analysis of the depth information to align newly observed features against a global sparse model of previously detected 3D features. The visual odometry provides updates at roughly 30 Hz that is fused at 1 KHz with the inertial sensor data through a Kalman Filter. The high… CONTINUE READING
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