Semi-dense visual-inertial odometry and mapping for quadrotors with SWAP constraints

W. Liu, Giuseppe Loianno, Kartik Mohta, Kostas Daniilidis, Vijay Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Micro Aerial Vehicles have the potential to assist humans in real life tasks involving applications such as smart homes, search and rescue, and architecture construction. To enhance autonomous navigation capabilities these vehicles need to be able to create dense 3D maps of the environment, while concurrently estimating their own motion. In this paper, we are particularly interested in small vehicles that can navigate cluttered indoor environments. We address the problem of visual inertial state estimation, control and 3D mapping on platforms with Size, Weight, And Power (SWAP) constraints. The proposed approach is validated through experimental results on a 250 g, 22 cm diameter quadrotor equipped only with a stereo camera and an IMU with a computationally-limited CPU showing the ability to autonomously navigate, while concurrently creating a 3D map of the environment.

Original languageEnglish (US)
Title of host publicationICRA International conference on Robotics and Automation
StatePublished - Sep 10 2018
Event2018 International Conference on Robotics and Automation - Brisbane Convention and Exhibition Centre, Brisbane, Australia
Duration: May 21 2018May 25 2018


Conference2018 International Conference on Robotics and Automation
Abbreviated titleICRA 2018


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