Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles
Martin Scheiber Jeff Delaune Stephan Weiss Roland Brockers Martin Scheiber Jeff Delaune Stephan Weiss Roland Brockers
Monocular Visual-Inertial Odometry (VIO) has become ubiquitous for navigation of autonomous Micro Air Vehicles (MAVs). Yet, state-of-the-art VIO is still very failure-prone, which can have dramatic consequences. To prevent this, VIO must be able to re-initialize in mid-air, either during a free fall or on a constant velocity trajectory after attitude control has been re-established. However, for b...