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EKF-Based Approach
Authors
Michael
Bloesch
PhD, ETH
Zurich
Sammy
Omari
GoPro,
PhD, ETH
Zurich
Marco
Hutter
Asst. Prof.
Robotic
Systems,
ETH Zurich
Roland
Seigwart
Director,
ASL - ETH
Zurich
Challenges
DirectApproach
Robocentric Mapping
Feature Initialization
State Parameterization
MTK Toolkit
Filter Update
Feature Handling
Feature Handling
Feature Handling
Alignment equations
Number of features : 50
Results - Flying
VO framework is
initialized without any
calibration.
Calibration
parameters converge
online
Offset can be
attributed to online
calibration of the filter
Demonstration
https://www.youtube.com/
watch?v=ZMAISVy-6ao&
Thank you