State estimation for aerial vehicles using multi-sensor fusion
Abstract:
A state estimation system that utilizes long-range stereo visual odometry that can degrade to a monocular system at high-altitude, and integrates GPS, Barometer and IMU measurements. The system has two main parts: An EKF that is loosely fused and a long-range visual odometry part. For visual odometry, the system takes the EKF information for robust camera pose tracking, and the visual odometry outputs will be the measurement for EKF state update.
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