Relative State Estimation using Event-Based Propeller Sensing
Autonomous swarms of multi-Unmanned Aerial Vehicle (UAV) system requires an accurate and fast relative state estimation. Although monocular frame-based camera methods perform well in ideal conditions, they are slow, suffer scale ambiguity, and often struggle in visually challenging conditions. The advent of event cameras addresses these challenging tasks by providing low latency, high dynamic range, and microsecond-level temporal resolution. This paper proposes a framework for relative state estimation for quadrotors using event-based propeller sensing. The propellers in the event stream are tracked by detection to extract the region-of-interests. The event streams in these regions are pr...
| Authors | Ravi Kumar Thakur, Luis Granados Segura, Jan Klivan et al. |
|---|---|
| Primary category | cs.RO |
| Published | 20 April 2026 |
| Last updated at source | 20 April 2026 |
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