Titlebook: Experimental Robotics; The 14th Internation M. Ani Hsieh,Oussama Khatib,Vijay Kumar Book 2016 Springer International Publishing Switzerland

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,Arbeits-, Fassaden- und Schutzgerüste,ng. We register the camera online, converging in seconds, by visually tracking features on the robot and filtering the result. This online registration handles cases such as perturbed camera positions, wear and tear on camera mounts, and even a camera held by a human. We implement the approach on a

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https://doi.org/10.1007/978-3-662-00274-2s the primary sensors for state estimation and autonomy. In this paper we present a monocular visual-inertial system (VINS) for an autonomous quadrotor which relies only on an inexpensive off-the-shelf camera and IMU, and describe a robust state estimator which allows the robot to execute trajectori

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978-3-319-37096-5Springer International Publishing Switzerland 2016

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Experimental Robotics978-3-319-23778-7Series ISSN 1610-7438 Series E-ISSN 1610-742X

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