Visual-Inertial Navigation for a Camera-Equipped 25g Nano-Quadrotor

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A 64-mW DNN-Based Visual Navigation Engine for Autonomous Nano-Drones (2018, background): “[21] developed a visual-inertial simultaneous localization and mapping (SLAM) algorithm, for a 25 g nano quadrotor.”
Stereo DSO: Large-Scale Direct Sparse Visual Odometry with Stereo Cameras (2017, background): “An example of a reconstructed scene is shown at bottom. far more versatile – the smaller size and weight, for example, enable applications such as visual-inertial autonomous navigation of nanocopters [6].”
Local histogram matching for efficient optical flow computation applied to velocity estimation on pocket drones (2016, methodology): “have flown a 25 gram helicopter with visual-inertial SLAM for stabilization, for which they use an external laptop to calculate its position by visual odometry [10].”
Efficient Optical Flow and Stereo Vision for Velocity Estimation and Obstacle Avoidance on an Autonomous Pocket Drone (2016, background): “1), are ideal for maneuvering through very narrow spaces, as often occurs in indoor environments.”
Target following on nano-scale Unmanned Aerial Vehicles (2017, background): “In nano-size UAV, the state-of-the-art is represented by solutions that either perform very basic functionality like hovering [2], [6] or offload computation to some external base-station [5], [14].”