Cooperative Visual Inertial Odometry for Heterogeneous Swarm of Drones Navigating in Noisy Environments

Author:

Atik Kamil Canberk1,Erdogan Enes1,Yahsi Ahmet Yusuf2,Kara Feyzullah3,Yalcin Baris4,Cetin Gurkan4,Ure Nazim Kemal1

Affiliation:

1. Istanbul Technical University,Faculty of Aeronautics and Astronautics, ITU Artificial Intelligence and Data Science Application and Research Center,Istanbul,Turkey

2. Istanbul Technical University,Faculty of Computer and Informatics Engineering, ITU Artificial Intelligence and Data Science Application and Research Center,Istanbul,Turkey

3. Istanbul Technical University,Faculty of Electrical and Electronics, ITU Artificial Intelligence and Data Science Application and Research Center,Istanbul,Turkey

4. Havelsan,Ankara,Turkey

Funder

Istanbul Technical University BAP

Publisher

IEEE

Reference27 articles.

1. DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments;rou?ek;Modelling and Simulation for Autonomous Systems,2020

2. Obtención de Trayectorias Empleando el Marco Strapdown INS/KF: Propuesta Metodológica.

3. Visual-Inertial Navigation: A Concise Review

4. Iterated extended Kalman filter based visualinertial odometryusing direct photometric feedback;bloesch;The International Journal of Robotics Research,2017

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