• Attitude Heading Reference System with Rotation-Aiding Visual Landmarks 

      Beall, Chris; Ta, Duy-Nguyen; Ok, Kyel; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
      In this paper we present a novel vision-aided attitude heading reference system for micro aerial vehicles (MAVs) and other mobile platforms, which does not rely on known landmark locations or full 3D map estimation as ...
    • Vistas and Wall-Floor Intersection Features: Enabling Autonomous Flight in Man-made Environments 

      Ok, Kyel; Ta, Duy-Nguyen; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      We propose a solution toward the problem of autonomous flight and exploration in man-made indoor environments with a micro aerial vehicle (MAV), using a frontal camera, a downward-facing sonar, and an IMU. We present ...