VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation
Ziming Ding Tiankai Yang Kunyi Zhang Chao Xu Fei Gao Ziming Ding Tiankai Yang Kunyi Zhang Chao Xu Fei Gao
Recently, quadrotors are gaining significant attention in aerial transportation and delivery. In these scenarios, an accurate estimation of the external force is as essential as the six degree-of-freedom (DoF) pose since it is of vital importance for planning and control of the vehicle. To this end, we propose a tightly-coupled Visual-Inertial-Dynamics (VID) system that simultaneously estimates th...