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Robust Tightly-Coupled Filter-Based Monocular Visual-Inertial State Estimation and Graph-Based Evaluation for Autonomous Drone Racing

arXiv · Mar 3

This paper introduces ADR-VINS, a monocular visual-inertial state estimation framework based on an Error-State Kalman Filter (ESKF) designed for autonomous drone racing, integrating direct pixel reprojection errors from gate corners as innovation terms. It also introduces ADR-FGO, an offline Factor-Graph Optimization framework for generating high-fidelity reference trajectories for post-flight evaluation in GNSS-denied environments. Validated on the TII-RATM dataset, ADR-VINS achieved an average RMS translation error of 0.134 m and was successfully deployed in the A2RL Drone Championship Season 2. Why it matters: The framework provides a robust and efficient solution for drone state estimation in challenging racing environments, and enables performance evaluation without relying on external localization systems.

Power-Watershed: a graph-based optimization framework for image and data processing

MBZUAI · Invalid Date

Laurent Najman presented the Power Watershed (PW) optimization framework for image and data processing. The PW framework enhances graph-based data processing algorithms like random walker and ratio-cut clustering, leading to faster solutions. It can be adapted for graph-based cost minimization methods and integrated with deep learning networks. Why it matters: This framework could enable more efficient and scalable image and data processing algorithms relevant to computer vision and related fields in the Middle East.