The video from our recent experiments with state estimation in GPS-Denied environments. 

The vehicle is localizing against a known map using a MEMs IMU and a 2D lidar scanner.

There are more details in our paper:…

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The Robust Robotics Group at MIT has developed a system that allows a quadrotor outfitted with a kinect sensor to fly autonomously in GPS-Denied environments, building a map of the environment.



Unlike previous work, our system does NOT rely on external motion capture to localize and control the vehicle. All sensing and computation required for local position control is done onboard the vehicle.



We have collaborated with members of the Robotics and State Estimation Lab at… Continue