Scalable Autonomous Drone Flight in the Forest with Visual-Inertial SLAM and Dense Submaps Built without LiDAR.
Sebastián Barbas LainaSimon BocheSotiris PapatheodorouDimos TzoumanikasSimon SchaeferHanzhi ChenStefan LeuteneggerPublished in: CoRR (2024)
Keyphrases
- inertial sensors
- unmanned aerial vehicles
- mobile robot
- low level
- visual information
- point cloud
- visual features
- flight data
- visual perception
- simultaneous localization and mapping
- object and scene recognition
- vision system
- cooperative
- robotic systems
- visual odometry
- data association
- position and orientation
- dynamic model
- high resolution