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Visual Navigation for the Parrot AR.Drone (ROS Package)

The tum_ardrone Robot Operating System (ROS) package allows to let the Parrot AR.Drone fly autonomously, using PTAM-based, visual navigation. The package repository is currently maintained by Jakob Engel. The documentation and repository can be found on the ROS wiki pages: http://www.ros.org/wiki/tum_ardrone.

The methods used are detailed further in the corresponding publications:
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Journal Articles
2014
[]Scale-Aware Navigation of a Low-Cost Quadrocopter with a Monocular Camera (J. Engel, J. Sturm and D. Cremers), In Robotics and Autonomous Systems (RAS), volume 62, 2014.  [bibtex] [pdf]
Conference and Workshop Papers
2012
[]Accurate Figure Flying with a Quadrocopter Using Onboard Visual and Inertial Sensing (J. Engel, J. Sturm and D. Cremers), In Proc. of the Workshop on Visual Control of Mobile Robots (ViCoMoR) at the IEEE/RJS International Conference on Intelligent Robot Systems (IROS), 2012.  [bibtex] [pdf]
[]Camera-Based Navigation of a Low-Cost Quadrocopter (J. Engel, J. Sturm and D. Cremers), In Proc. of the International Conference on Intelligent Robot Systems (IROS), 2012.  [bibtex] [pdf] [video]
Other Publications
2011
[]Autonomous Camera-Based Navigation of a Quadrocopter (J. Engel), Master's thesis, Technical University Munich, 2011.  [bibtex] [pdf]Distinguished with the SIEMENS award for best Master's Thesis 2012
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