Article

Monocular RGB Camera and IMU Fusion for Onboard UAV State Estimation, A2RL Drone Racing Semifinalist

The paper proposes an onboard state estimation method for high-speed UAVs using only a monocular RGB camera and an IMU, fusing visual-inertial odometry (VIO), onboard landmark camera measurements, and IMU data, and estimating and compensating for VIO drift through a new mathematical drift model.

Part of the event: Proposes a monocular camera and IMU fusion method for UAV state estimation

This page provides a summary and source link only.