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Localization of MAV in GPS-Denied Environment Using Embedded Stereo Camera

Syaril Azrad


Localization of Micro-Air Vehicles (MAVs) in GPS-denied environment such as indoors has been done using various techniques. Most of the experiment indoors that requires localization of MAVs, used cameras or ultrasonic sensors set indoor or indoor environment modification such as patching IR and visual markers. While these systems have high accuracy for the MAV localization, their costs are expensive and have less practicality in real situations. We propose a system consisting of a stereo camera embedded on a MAV for indoor localization. We propose a fusion of optical flow, distance data from the camera with attitude and acceleration data for the localization problem.

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