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Volker Strobel added If_sufficient_computational_and_physical__.tex
almost 8 years ago
Commit id: 0199164ef8204575aa3050fe64c273de71cd0489
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If sufficient computational and physical power is available, a typical
approach to estimate a UAV's position is by using active laser
rangefinders~\cite{grzonka2009towards,bachrach2009autonomous}.
Although this approach is used in some simultaneous localization and
mapping (SLAM) frameworks, it is usually not feasible for MAVs because
they can carry only small payloads. A viable alternative are passive
computer vision techniques. Relying on visual information scales down
the physical payload since cameras are often significantly lighter
than laser
rangefinders~\cite{blosch2010vision,angeli20062d,ahrens2009vision}.
Additionally, many commercially available drones are already equipped
with cameras. In contrast to other existing approaches, the proposed algorithm does not rely on data from the inertial measurement unit (IMU). The only required tool is a camera, which makes the proposed algorithm rather safe to failure. Cameras are lightweight and not affected by external, such as magnetic fields. Additionally, relying on reduces the number of possible points of failure.
