Aerial Robotic Autonomy: Deep-dive Topics (2022)

Inertial Measurement Unit (IMU) Modeling

  • Trawny, N. and Roumeliotis, S.I., 2005. Indirect Kalman filter for 3D attitude estimation. University of Minnesota, Dept. of Comp. Sci. & Eng., Tech. Rep, 2, p.2005.
  • Woodman, O.J., 2007. An introduction to inertial navigation (No. UCAM-CL-TR-696). University of Cambridge, Computer Laboratory.
  • Goel, A., Islam, A.U., Ansari, A., Kouba, O. and Bernstein, D.S., 2021. An Introduction to Inertial Navigation From the Perspective of State Estimation [Focus on Education]. IEEE Control Systems Magazine, 41(5), pp.104-128.

Visual-Inertial Odometry

  • Sa, I., Kamel, M., Burri, M., Bloesch, M., Khanna, R., Popović, M., Nieto, J. and Siegwart, R., 2017. Build your own visual-inertial drone: A cost-effective and open-source autonomous drone. IEEE Robotics & Automation Magazine, 25(1), pp.89-103.
  • Von Stumberg, L., Usenko, V. and Cremers, D., 2018, May. Direct sparse visual-inertial odometry using dynamic marginalization. In 2018 IEEE International Conference on Robotics and Automation (ICRA) (pp. 2510-2517). IEEE.
  • Engel, J., Koltun, V. and Cremers, D., 2017. Direct sparse odometry. IEEE transactions on pattern analysis and machine intelligence, 40(3), pp.611-625.
  • Khattak, S., Papachristos, C. and Alexis, K., 2020. Keyframe‐based thermal–inertial odometry. Journal of Field Robotics, 37(4), pp.552-579.
  • Leutenegger, S., Lynen, S., Bosse, M., Siegwart, R. and Furgale, P., 2015. Keyframe-based visual–inertial odometry using nonlinear optimization. The International Journal of Robotics Research, 34(3), pp.314-334.
  • Bloesch, M., Omari, S., Hutter, M. and Siegwart, R., 2015, September. Robust visual inertial odometry using a direct EKF-based approach. In 2015 IEEE/RSJ international conference on intelligent robots and systems (IROS) (pp. 298-304). IEEE.
  • Forster, C., Pizzoli, M. and Scaramuzza, D., 2014, May. SVO: Fast semi-direct monocular visual odometry. In 2014 IEEE international conference on robotics and automation (ICRA) (pp. 15-22). IEEE.
  • Scaramuzza, D. and Fraundorfer, F., 2011. Visual odometry [tutorial]. IEEE robotics & automation magazine, 18(4), pp.80-92.
  • Fraundorfer, F. and Scaramuzza, D., 2012. Visual odometry: Part ii: Matching, robustness, optimization, and applications. IEEE Robotics & Automation Magazine, 19(2), pp.78-90.

NB! The course material is currently being added!