Vision-based localization, mapping and control for autonomous MAV: EuRoC challenge results

This paper presents vision-based localization, mapping and control solutions for autonomous navigation of a micro-air vehicle (MAV) in GPS-denied environments. The proposed algorithms have been evaluated in the simulation contest of the FP7 project EuRoC (European Robotics Challenges) dedicated to " Plant Servicing and Inspection " , where our team composed of members from ONERA and ISIR-UPMC ranked 2nd over 21 European research laboratories and has been selected for the next stages of the project.