Monocular vision and IMU based navigation for a small unmanned helicopter

Focusing on the problem of autonomous flight for a small unmanned helicopter in GPS-denied environments, this paper proposes a navigation system which combines monocular visual and inertial measurements. The homography based visual odometry, as well as the inertial measurement from an IMU, can estimate the motion of a small unmanned helicopter. An extended Kalman filter is used to fuse the estimations of both visual and inertial sensors to provide the available navigation data. Finally, the effectiveness of this system is verified by real experiments. The Vision/IMU navigation has almost the same performance as the traditional GPS/IMU navigation.