Dinuka M. W. Abeywardena

Fast, on-board, model-aided visual-inertial odometry system for quadrotor micro aerial vehicles

The main contribution of this paper is a high frequency, low-complexity, on-board visual-inertial odometry system for quadrotor micro air vehicles. The system consists of an extended Kalman filter (EKF) based state estimation algorithm that fuses information from a low cost MEMS inertial measurement