Relative Navigation: A Keyframe-Based Approach for Observable GPS-Degraded Navigation

As relevant technologies become smaller and less expensive, micro air vehicles (MAVs) are transitioning from predominantly military and hobbyist applications to mainstream use. Exciting new applications include the delivery of medical supplies to remote areas, infrastructure inspection, environmental change detection, precision agriculture, survelliance of visible satellites. These issues are particularly prevalent when flying near the ground, where safety and reliability are especially important.