Robust and Accurate Monocular Visual Navigation Combining IMU for a Quadrotor

In this paper, we present a multi-sensor fusion based monocular visual navigation system for a quadrotor with limited payload, power and computational resources. Our system is equipped with an inertial measurement unit(IMU), a sonar and a monocular down-looking camera. It is able to work well in GPS...

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Veröffentlicht in:	IEEE/CAA journal of automatica sinica 2015-01, Vol.2 (1), p.33-44
Hauptverfasser:	Zheng, Wei, Zhou, Fan, Wang, Zengfu
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Cameras Estimation inertial measurement unit (IMU) keyframe and keypoint monocular camera Motion estimation Navigation systems Sonar Sonar navigation Visual navigation Visualization
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