Invariant Observer-Based State Estimation for Micro-Aerial Vehicles in GPS-Denied Indoor Environments Using an RGB-D Camera and MEMS Inertial Sensors

Invariant Observer-Based State Estimation for Micro-Aerial Vehicles in GPS-Denied Indoor Environments Using an RGB-D Camera and MEMS Inertial Sensors

This paper presents a non-linear state observer-based integrated navigation scheme for estimating the attitude, position and velocity of micro aerial vehicles (MAV) operating in GPS-denied indoor environments, using the measurements from low-cost MEMS (micro electro-mechanical systems) inertial sens...

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Bibliographic Details
Main Authors: Dachuan Li, Qing Li, Liangwen Tang, Sheng Yang, Nong Cheng, Jingyan Song
Format: Article
Language:English
Published: MDPI AG 2015-04-01
Series:Micromachines
Subjects:
integrated navigation
micro aerial vehicles (MAVs)
state observer
visual odometry (VO)
RGB-D cameras
Online Access:http://www.mdpi.com/2072-666X/6/4/487

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