Link to video on YouTube

Abstract: “Autonomous quadrotors will soon play a major role in search-and-rescue and remote-inspection missions, where a fast response is crucial. Quadrotors have the potential to navigate quickly through unstructured environments, enter and exit buildings through narrow gaps, and fly through collapsed buildings. However, their speed and maneuverability are still far from those of birds. Indeed, agile navigation through unknown, indoor environments poses a number of challenges for robotics research in terms of perception, state estimation, planning, and control. In this talk, I will give an overview of my research activities on visual navigation of quadrotors, from slow navigation (using standard frame-based cameras) to agile flight (using active vision and event-based cameras). Topics covered will be: visual inertial state estimation, monocular dense reconstruction, active vision and control, event-based vision.”