===== Visual/Inertial Motion Estimation =====

Fundamental to the successful operation of UAVs for service and inspection tasks is their ability to estimate their ego-motion and map the environment. Usage in industrial inpection scenarios requires a high degree of robustness and accuracy yet payload, power and size constraints limit the choice for the onboard sensor suite. We developed a framework that tightly couples visual and inertial cues to achieve the required robustness and accuracy. 

This page presents our efforts towards a general-purpose //Simultaneous Localization and Mapping// (SLAM) device. FIXME
==== Visual/Inertial SLAM Sensor ====

<fc #FF0000>//New 2012//</fc> 2nd generation //SLAM Sensor// FIXME

{{:perception:slamsensor.jpg?400|}}


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==== Visual/Inertial Motion Estimation Prototype ====

1st generation visual/inertial motion estimation system used in the [[research:narcea|Narcea field tests]] in 2012. FIXME

{{:inspectionuavs:stereorigscl.jpg?400|}}

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