1D-LRF Aided Visual-Inertial Odometry for High-Altitude MAV Flight
Jiaxin Hu,Jun Hu,Yunjun Shen,Xiaoming Lang,Bo Zang,Guoquan Huang,Yinian Mao,Jiaxin Hu,Jun Hu,Yunjun Shen,Xiaoming Lang,Bo Zang,Guoquan Huang,Yinian Mao
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 that in near-sighted scenarios as considered in most existing VIO methods. To cope with this challen...
