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

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/p3fyh81xnc6855yucgozit1yn
- Original: https://arxiv.org/abs/2602.01860

## Summary

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.