Yunjun Shen

1D-LRF Aided Visual-Inertial Odometry for High-Altitude MAV Flight

This paper addresses the problem of visual-inertial odometry (VIO) with a downward facing monocular camera when a micro aerial vehicle (MAV) flying at high altitude (over 100 meters). It is important to note that large scene depth causes visual motion constraints significantly less informative than…