2018
Stereo Visual Odometry and Semantics based Localization of Aerial Robots in Indoor Environments
Hriday Bavle, Stephan Manthe, Paloma de la Puente, Alejandro Rodriguez-Ramos, Carlos Sampedro, Pascual Campoy
IROS 2018poster
In this paper we propose a particle filter localization approach, based on stereo visual odometry (VO) and semantic information from indoor environments, for mini-aerial robots. The prediction stage of the particle filter is performed using the 3D pose of the aerial robot estimated by the stereo VO…