Real-time onboard visual-inertial state estimation and self-calibration of MAVs in unknown environments.
Stephan WeissMarkus AchtelikSimon LynenMargarita ChliRoland SiegwartPublished in: ICRA (2012)
Keyphrases
- state estimation
- unknown environments
- real time
- kalman filter
- outdoor environments
- mobile robot
- simultaneous localization and mapping
- particle filter
- inertial sensors
- kalman filtering
- dynamic systems
- free space
- visual tracking
- autonomous robots
- vision system
- dynamic environments
- closed form
- particle filtering
- visual information
- appearance model
- focal length
- obstacle avoidance
- camera calibration
- mobile agents
- multi agent
- computer vision