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This work was supported in part by the Institute of Civil Military Technology Cooperation funded by the Defense Acquisition Program Administration, and in part by the Ministry of Trade, Industry, and Energy of Korean Goverment under Grant UM22206RD2.All authors are with the Unmanned Systems Research Group (USRG), School of Electrical Engineering, Korea Advanced Institute of Science and Techonogy (KAIST), Daejeon 305701, South Korea. {mbazhari, donghun.han, sj2park, hcshim}@kaist.ac.kr
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Autonomous drones can now navigate high-speed races more reliably thanks to a visual-inertial system that ditches traditional PnP solvers for direct pixel reprojection, handling noisy data with as few as two visible features.