Stereo Visual-Inertial Fusion for UAV State Estimation

An Open Source, Fiducial Based, Visual-Inertial State Estimation System

Many robotic tasks rely on the estimation of the location of moving bodies with respect to the robotic workspace. This information about the robots pose and velocities is usually either directly used for localization and control or utilized for verification. Often motion capture systems are used to obtain such a state estimation. However, these systems are very costly and limited in terms of wo...

Fusion of Monocular Visual-Inertial Measurements for Three Dimensional Pose Estimation

Visual Odometry: Autonomous UAV Navigation using Optic Flow and Stereo

Visual odometry is vital to the future of mobile robotics. In this paper, we demonstrate a method that combines information from optic flow and stereo to estimate and control the current position of a quadrotor along a pre-defined trajectory. The absolute translation in 3D is computed by combining the optic flow measurements between successive frames and stereo-based height over ground. The cur...

Visual and Thermal Image Fusion for UAV Based Target Tracking

K. Senthil Kumar1, G. Kavitha2, R. Subramanian3 and G. Ramesh4 1Division of Avionics, Department of Aerospace Engineering, Madras Institute of Technology, Anna University, 2Department of Electronics and Communication Engineering, Madras Institute of Technology, Anna University 3Division of Avionics, Department of Aerospace Engineering, Madras Institute of Technology, Anna University 4National A...

Consistent Fusion of Leg Kinematics and Inertial Measurements for State Estimation of Legged Robots

The control performance of legged robots and floating base systems in general strongly depends on the underlying state estimation. This becomes especially important as soon as it comes to dynamic maneuvers or challenging terrain, where purely leg kinematics based pose estimators often fail. In order to avoid the usage of an external tracking system, we propose a filtering method that integrates...