Combined Visual and Inertial Navigation for an Unmanned Aerial Vehicle

@inproceedings{Kelly2007CombinedVA,
  title={Combined Visual and Inertial Navigation for an Unmanned Aerial Vehicle},
  author={Jonathan Kelly and Srikanth Saripalli and Gaurav S. Sukhatme},
  booktitle={FSR},
  year={2007}
}
We describe an UAV navigation system which combines stereo visual odometry with inertial measurements from an IMU. Our approach fuses the motion estimates from both sensors in an extended Kalman filter to determine vehicle position and attitude. We present results using data from a robotic helicopter, in which the visual and inertial system produced a final position estimate within 1% of the measured GPS position, over a flight distance of more than 400 meters. Our results show that the… CONTINUE READING
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