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In this paper, we propose a novel feature extraction method called double sparse local Fisher discriminant analysis (DSLFDA), which is an extension of the local Fisher discriminant analysis (LFDA) algorithm. The proposed method combines the idea of sparse representation to construct an adaptive graph to describe the structure information of the samples. Meanwhile, to obtain the sparse projection vectors,...
This paper extends the recently developed Model-Aided Visual-Inertial Fusion (MA-VIF) technique for quadrotor Micro Air Vehicles (MAV) to deal with wind disturbances. The wind effects are explicitly modelled in the quadrotor dynamic equations excluding the unobservable wind velocity component. This is achieved by a nonlinear observability of the dynamic system with wind effects. We show that using...
This paper presents a novel algorithm for fusing monocular vision and inertial information for quadrotor Micro Air Vehicles by incorporating the unique dynamic characteristics of that platform into the state estimation process. The dynamics of a quadrotor is unique in that a dual axis accelerometer mounted parallel to the propeller plane provides measurements that are directly proportional to vehicle...
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