In this paper, we comprehensively discuss the current progress of visual-inertial (VI)
navigation systems and sensor fusion research with a particular focus on small unmanned …

This paper extends the recently developed Model-Aided Visual-Inertial Fusion (MA-VIF)
technique for quadrotor Micro Air Vehicles (MAV) to deal with wind disturbances. The wind …

In this paper, we present a multi-sensor fusion based monocular visual navigation system for
a quadrotor with limited payload, power and computational resources. Our system is …

This paper presents an optical-aided navigation method for automatic flights where satellite
navigation might be disturbed. The proposed solution follows common approaches where …

The main contribution of this paper is a tightly-coupled visual-inertial fusion algorithm for
simultaneous localisation and mapping (SLAM) for a quadrotor micro aerial vehicle (MAV) …

The combination of a camera and an Inertial Measurement Unit (IMU) has received much
attention for state estimation of Micro Aerial Vehicles (MAVs). In contrast to many map based …

In this paper, a fault-tolerant velocity estimation method is proposed for quadrotors in a GPS
denied environment. A novel filter is developed in light of the quadrotor model and …

At present, the integrated navigation system used by multirotor Unmanned Aerial Vehicles
(UAVs) is heavily dependent on the GPS when flying outdoors. However, signal block …

A robust state estimator is presented by fusing the aerodynamic model of multi-rotor UAVs
with measurements from optical flow and other low-cost sensors such as IMU …

This paper presents an improved state estimation technique-a fusion of Monocular SLAM
(Simultaneous Localization and Mapping) and INS (Inertial Navigation System). It is utilized …