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The document discusses the development of a vision-based navigation system for an indoor Vertical-Take-Off-and-Landing Micro Aerial Vehicle (MAV) named Air-Quad. It highlights the integration of MEMS sensors with a computer vision module to improve navigation accuracy, as traditional GPS fails in indoor environments. The paper details the algorithms used for attitude and position estimation, including a Kalman filter for error correction and a sparse bundle adjustment for scene structure estimation.
- Author
- Sankalp Rao Yerra
- Language
- EN