Visual Inertial Odometry

First ever closed-loop autonomous flight with an event camera!

I am happy to announce today that my team achieved the first ever closed-loop autonomous flight using an event camera for state estimation! Watch the video here! This achievement is the product of several years of research, and I am very proud of the result. Thanks to the event camera, out quadrotor can “see” in high-speed, even in dark environments. The algorithm running onboard the quadrotor is largely based on my recent paper: Real-time Visual-Inertial Odometry for Event Cameras using Keyframe-based Nonlinear Optimization, which we extended to use standard frames as an additional sensing modality in a following paper: Hybrid, Frame and Event based Visual Inertial Odometry for Robust, Autonomous Navigation of Quadrotors.

New paper accepted at BMVC17!