Fusion of Visual-Inertial Odometry with LiDAR Relative Localization for Cooperative Guidance of a Micro-Scale Aerial Vehicle.
Václav PritzlMatous VrbaPetr StepánMartin SaskaPublished in: CoRR (2023)
Keyphrases
- inertial sensors
- cooperative
- sensor fusion
- aerial vehicles
- position estimation
- mobile robot
- path planning
- visual information
- position and orientation
- visual features
- data fusion
- multi sensor
- map building
- lidar data
- simultaneous localization and mapping
- autonomous navigation
- point cloud
- real time
- high resolution
- multi agent
- multiple targets
- dynamic model
- kalman filter
- image classification
- dynamic programming