David Čapek

Kilometer-Scale GNSS-Denied UAV Navigation Via Heightmap Gradients: A Winning System from the SPRIN-D Challenge

Reliable long-range flight of unmanned aerial vehicles (UAVs) in GNSS-denied environments is challenging: integrating odometry leads to drift, loop closures are unavailable in previously unseen areas and embedded platforms provide limited computational power. We present a fully onboard UAV system de…