Observer design for visual inertial SLAM scale on a quadrotor UAV

@article{Fink2017ObserverDF,
  title={Observer design for visual inertial SLAM scale on a quadrotor UAV},
  author={Geoff Fink and Mirko Franke and Alan F. Lynch and Klaus Rx00F6benack and Bryan Godbolt},
  journal={2017 International Conference on Unmanned Aircraft Systems (ICUAS)},
  year={2017},
  pages={830-839}
}
Estimation of an Unmannaed Aerial Vehicle's (UAV) state, i.e., its pose and velocity, is fundamentally important to its operation. Computer vision provides an alternate or augmentation source for performing state estimation. This work uses an existing monocular Visual Simultaneous Localization and Mapping (VSLAM) system which estimates scaled vehicle… CONTINUE READING