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In order to enable autonomous flights and to increase the field of application of Micro Aerial Vehicles (MAVs) a new quadrotor with tiltable rotors is developed. This highly non-linear system requires complex algorithms to be controlled. To gain an efficient and robust control algorithm is a key problem concerning autonomous flights. In this article a simple but robust control approach based on control...
Accurate and consistent ego motion estimation is a critical component of autonomous navigation. For this task, the combination of visual and inertial sensors is an inexpensive, compact, and complementary hardware suite that can be used on many types of vehicles. In this work, we compare two modern approaches to ego motion estimation: the Multi-State Constraint Kalman Filter (MSCKF) and the Sliding...
In this paper the monocular visual odometry algorithm augmented with pose graph optimization is presented. The algorithm was tested using five different combinations of feature extractors and descriptors and evaluated using two challenging datasets from KITTI database. The main result of this study is that the implementation of pose graph optimization may lead to reduction of position error ranging...
Under the influence of the lighting condition and some character of water media, the underwater images have low contrast, unbalance gray scales, fuzzy edge of objects and large quantity of noise which will appear with the movement of vehicle. For the mentioned above factors, when traditional methods are used to dispose underwater images, the regions of objects can’t be located exactly, details of...
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