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: http://groups.csail.mit.edu/rrg/index.php?n=Publications.Conf2012
Comments
That is so cool!
This is very cool, but at 13 ounces and $5000.00 I am going to have to wait a few years for Moore's law to make it practical. I keep wondering about using a stereo vision system.
I am really very impressed ! Anyone who see this will definitively be impressed, its future !
Was that your porsche?
The lidar is a Hokuyo UTM-30LX:
http://www.hokuyo-aut.jp/02sensor/07scanner/utm_30lx.html
The details of the filter are in the paper... It's a hybrid between an Extended Kalman Filter and a Gaussian Particle Filter.
I'm impressed. This is WAY cool! Especially considering that such an aircraft doesn't have the agility (I don't think) that a quadcopter would. Does state estimation involve a Kalman filter?
Super impressive gents hats off to you all.