Visual Navigation for a 25g Nano-Quadrotor (IROS 2014)

Oliver Dunkley, Jakob Engel, Jürgen Sturm and Daniel Cremers
Technical University Munich
For more Information see
vision.in.tum....
We present a 25 g nano-quadrotor equipped with
a micro PAL-camera and wireless video transmitter, with which
we demonstrate autonomous hovering and figure flying using a
visual-inertial SLAM system running on a ground-based laptop.
To our knowledge this is the lightest quadrotor capable of
visual-inertial navigation with off-board processing. Further we
show autonomous flight with external pose-estimation, using
both a motion capture system or an RGB-D camera. The
hardware is low-cost, robust, easily accessible and has freely
available detailed specifications. We release all code in the
form of an open-source ROS package to stimulate and facilitate
further research into using nano-quadrotors as visual-inertial
based autonomous platforms.

[@sayoanoliveira6339]

A fantastic application!

[@brunohppl]

Incredible! I have been playing around with the crazy-flie for a few months already. But haven't been able to develop anything yet, still working on it. Great Material guys!

[@omwdunkley]

Thanks for the kind words! It sure is a wonderful little machine, Bitcraze has done an a wonderful job!

[@elliotfelipe1728]

Hey, this is spectacular! which camera and transmitter setup did you use? I cant find the any setup that is light enough and, at the same time, can that can share Lipo battery with the crazyflie.

[@chaoqunwang1960]

Thank you for extraordinary work.How can I get the ros source code of the crazyflie?Thanks