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ENHANCEMENT STRATEGIES FOR FRAME-TO-FRAME UAS STEREO VISUAL ODOMETRY
2016
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Autonomous navigation of indoor unmanned aircraft systems (UAS) requires accurate pose estimations usually obtained from indirect measurements. Navigation based on inertial measurement units (IMU) is known to be affected by high drift rates. The incorporation of cameras provides complementary information due to the different underlying measurement principle. The scale ambiguity problem for monocular cameras is avoided when a light-weight stereo camera setup is used. However, also frame-to-frame
doi:10.5194/isprs-archives-xli-b3-511-2016
fatcat:opknrazxnjebtje5idofuadsve