Posts tagged Bo Fu
RaD-VIO: Rangefinder-aided Downward Visual-Inertial Odometry

Aerial vehicles require a reliable means of determining how they move for robust flight. A downward looking camera is often used to provide an estimate of the robots motion along the ground. In this work we employ the approximation of the ground underneath as being locally planar and utilize this property in concert with onboard inertial sensors for measuring attitude and a single laser beam based rangefinder to provide fast, robust odometry estimates. Specifically, we include all the sensor information within a unified filtering framework. The focus in this work is to provide a reliable, fast, and robust estimate of odometry that can serve ably as a backup for more sophisticated optimization based odometry algorithms.

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