Conquering Textureless with RF-referenced Monocular Vision for MAV State Estimation
Shengkai Zhang Sheyang Tang Wei Wang Tao Jiang Qian Zhang Shengkai Zhang Sheyang Tang Wei Wang Tao Jiang Qian Zhang
The versatile nature of agile micro aerial vehicles (MAVs) poses fundamental challenges to the design of robust state estimation in various complex environments. Achieving high-quality performance in textureless scenes is one of the missing pieces in the puzzle. Previously proposed solutions either seek a remedy with visual loop closure or leverage RF localizability with inferior accuracy. None of...