Visual Inertial Slam Using Nonlinear

SVO: Fast Semi-Direct Monocular Visual Odometry - UZH

Inertial Measurement Unit. This setup allowed fully au-tonomous way-point following in outdoor areas [1]–[3] and collaboration between MAVs and ground robots [4], [5]. To our knowledge, all monocular Visual Odometry (VO) systems for MAVs [1], [2], [6], [7] are feature-based. In RGB-D and stereo-based SLAM systems how-

  Visual, Slam, Inertial