M. G. Miiller

Robust Visual-Inertial State Estimation with Multiple Odometries and Efficient Mapping on an MAV with Ultra-Wide FOV Stereo Vision

The here presented flying system uses two pairs of wide-angle stereo cameras and maps a large area of interest in a short amount of time. We present a multicopter system equipped with two pairs of wide-angle stereo cameras and an inertial measurement unit (IMU) for robust visual-inertial navigation…