Build Your Own Visual-Inertial Drone: A Cost-Effective and Open-Source Autonomous Drone.

This article describes an approach to building a cost-effective and research-grade visual-inertial (VI) odometry-aided vertical takeoff and landing (VTOL) platform. We utilize an off-the-shelf VI sensor, an onboard computer, and a quadrotor platform, all of which are factory calibrated and mass produced, thereby sharing similar hardware and sensor specifications [e.g., mass, dimensions, intrinsic ...