Autonomous Drone Navigation using Monocular ORB-SLAM2 in Structured Environments

The present work shows and tests experimentally a methodology to perform autonomous drone navigation solely relying in visual data, based on simultaneous localization and mapping. Additionally a simple yet effective flight control law is proposed and tested, control stability analysis using Laplace transform is presented. The experiments are carried out with a low-spec commercial drone which in combination with a mediumtier laptop can asymptotically reduce the position error to 2.9 cm.