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TinyCVIO: A Constellation-Aided Visual-Inertial Odometry System for Nanodrones
Nanodrones require accurate, real-time state estimation under severe sensing and computational constraints. We present TinyCVIO, a visual-inertial odometry system that co-designs miniature sensing, visual processing, and estimation for a commodity dual-core microcontroller with 520 kB SRAM. Lightwei
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