Combining Deep Learning and RGBD SLAM for Monocular Indoor Autonomous Flight

    L. Oyuki Rojas-Perez
    L. Oyuki Rojas-Perez
    A. A. Cabrera-Ponce
    A. A. Cabrera-Ponce
    Roberto Munguia-Silva
    Roberto Munguia-Silva

    MICAI (2), pp. 356-367, 2018.

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    EI

    Abstract:

    We present a system that uses deep learning and visual SLAM for autonomous flight in indoor environments. In this spirit, we use a state-of-the-art CNN architecture to obtain depth estimates, on a frame-to-frame basis, of images obtained from the drone’s onboard camera, and use them in a visual SLAM system to obtain both camera pose estim...More

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