Build your own visual-inertial odometry aided cost-effective and open-source autonomous drone

Abstract

This paper describes an approach to building a cost-effective and research grade visualinertial odometry aided vertical taking-off and landing (VTOL) platform. We utilize an off-the-shelf visual-inertial sensor, an onboard computer, and a quadrotor platform that are factory-calibrated and mass-produced, thereby sharing similar hardware and sensor… (More)

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