Code: Visual-Inertial Relative Pose Estimation for Aerial Vehicles

Driven by the need for portable and low-​cost solutions to relative pose estimation between Unmanned Aerial Vehicles (UAVs), in this codebase you can find a new framework to track a master UAV in real-​time, carrying a known constellation of LED markers, from a slave UAV without any other pose estimation capability. This software can be accessed here.

Users of this software are kindly asked to cite the following paper, where it was introduced:

Lucas Teixeira, Fabiola Maffra, Marco Moos and Margarita Chli, "VI-​RPE: Visual-​Inertial Relative Pose Estimation for Aerial Vehicles " in Robotics and Automation Letters (RA-​L / IROS), 2018.DOI E-​citations