RaD-VIO: Rangefinder-aided Downward Visual-Inertial Odometry

@article{Fu2018RaDVIORD,
  title={RaD-VIO: Rangefinder-aided Downward Visual-Inertial Odometry},
  author={Bo Fu and Kumar Shaurya Shankar and Nathan Michael},
  journal={2019 International Conference on Robotics and Automation (ICRA)},
  year={2018},
  pages={1841-1847}
}
State-of-the-art forward facing monocular visual-inertial odometry algorithms are often brittle in practice, especially whilst dealing with initialisation and motion in directions that render the state unobservable. In such cases having a reliable complementary odometry algorithm enables robust and resilient flight. Using the common local planarity assumption, we present a fast, dense, and direct frame-to-frame visual-inertial odometry algorithm for downward facing cameras that minimises a… 
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