Dandi Liu

An Observability Constrained Downward-Facing Optical-Flow-Aided Visual-Inertial Odometry

Visual-Inertial Odometry (VIO) has been widely used by autonomous drones as an onboard navigation method. However, it suffers from drifts especially in scenarios where the environments have few texture features such as an empty room with solid color walls. Optical flow sensors are another type of on…