IMU-Free Body-Frame State Estimation with Sparse Scene Flow for Quadcopters
We present a vision-only state estimation system for X-configuration quadcopters equipped with a canonical stereo camera pair and no inertial sensors. The system operates entirely in the body frame, requiring only synchronised stereo images and motor thrust commands. A continuous-discrete extended Kalman filter on a composite manifold state $\langle SE(3), \mathbb{R}^3, \ldots \rangle$ maintains estimates of body-frame pose, velocity, angular velocity, gravity, and disturbances, using stationary scene points as implicit inertial references. Feature points are detected (FAST, Shi-Tomasi), tracked temporally (SSD, Lucas-Kanade) and matched across cameras (NCC), with search regions predicted...
| Authors | Daniel Grønhaug, Sofie Markeset, Mathias Kolberg |
|---|---|
| Primary category | cs.RO |
| Published | 21 August 2026 |
| Last updated at source | 21 August 2026 |
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