IEEE Robotics & Automation Magazine - March 2018 - 89
Build Your Own
Visual-Inertial Drone
A Cost-Effective and Open-Source Autonomous Drone
Footage Firm, inc.
By Inkyu Sa, Mina Kamel, Michael Burri, Michael Bloesch,
Raghav Khanna, Marija Popovic,´ Juan Nieto, and Roland Siegwart
T
his article describes an approach to building a
cost-effective and research-grade visual-inertial
(VI) odometry-aided vertical takeoff and landing
(VTOL) platform. We utilize an off-the-shelf VI
sensor, an onboard computer, and a quadrotor
platform, all of which are factory calibrated and mass
Digital Object Identifier 10.1109/MRA.2017.2771326
Date of publication: 21 December 2017
1070-9932/18©2018IEEE
produced, thereby sharing similar hardware and sensor
specifications [e.g., mass, dimensions, intrinsic and extrinsic
of camera-inertial measurement unit (IMU) systems, and
signal-to-noise ratio]. We then perform system calibration
and identification, enabling the use of our VI odometry,
multisensor fusion (MSF), and model predictive control
(MPC) frameworks with off-the-shelf products. This
approach partially circumvents the tedious parameter-tuning
procedures required to build a full system. The complete
March 2018
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IEEE ROBOTICS & AUTOMATION MAGAZINE
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89
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2018
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