Our system consists of three components: a monocular SLAM system, an extended Kalman filter for data fusion and state estimation and a PID controller to generate steering commands. Cremers)Ībstract- In this paper, we describe a system that enables a low-cost quadrocopter coupled with a ground-based laptop to navigate autonomously in previously unknown and GPS- denied environments. ![]() ![]() Cremers)Īccurate Figure Flying with a Quadrocopter Using Onboard Visual and Inertial Sensing (J. Cremers)Ĭamera-Based Navigation of a Low-Cost Quadrocopter (J. Scale-Aware Navigation of a Low-Cost Quadrocopter with a Monocular Camera (J. ![]() This package contains the implementation corresponding to the following publications:
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