3 accepted papers
ROSflight is a lean, open-source autopilot system developed with the primary goal of supporting the needs of researchers working with micro aerial vehicle systems. The project consists of firmware designed to run on low-cost, readily available flight controller boards, as well as ROS packages for in…
Visual-inertial navigation methods have been shown to be an effective, low-cost way to operate autonomously without GPS or other global measurements, however most filtering approaches to VI suffer from observability and consistency problems. To increase robustness of the state-of-the-art methods, we…
This paper demonstrates a feasible method for using a deep neural network as a sensor to estimate the attitude of a flying vehicle using only flight video. A dataset of still images and associated gravity vectors was collected and used to perform supervised learning. The network builds on a previous…