State estimation for highly dynamic flying systems using key frame odometry with varying time delays

@article{Schmid2012StateEF,
  title={State estimation for highly dynamic flying systems using key frame odometry with varying time delays},
  author={Korbinian Schmid and Felix Ruess and Michael Suppa and Darius Burschka},
  journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2012},
  pages={2997-3004}
}
System state estimation is an essential part for robot navigation and control. A combination of Inertial Navigation Systems (INS) and further exteroceptive sensors such as cameras or laser scanners is widely used. On small robotic systems with limitations in payload, power consumption and computational resources the processing of exteroceptive sensor data often introduces time delays which have to be considered in the sensor data fusion process. These time delays are especially critical in the… CONTINUE READING

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