https://christianpfitzner.github.io/forschungsgruppe-mobile-robotik/en/tag/visual-inertial-odometry/Visual-Inertial OdometryHugo Blox Builder (https://hugoblox.com)en-usMon, 15 Jun 2026 00:00:00 +0000https://christianpfitzner.github.io/forschungsgruppe-mobile-robotik/media/icon_hu11734318148517933569.pnghttps://christianpfitzner.github.io/forschungsgruppe-mobile-robotik/en/tag/visual-inertial-odometry/https://christianpfitzner.github.io/forschungsgruppe-mobile-robotik/en/publication/2026-drohne-indoor-lokalisierung/Mon, 15 Jun 2026 00:00:00 +0000https://christianpfitzner.github.io/forschungsgruppe-mobile-robotik/en/publication/2026-drohne-indoor-lokalisierung/<h2 id="description">Description</h2> <p>The drone used at the AerodrOHM currently determines its position via an external, marker-based tracking system. This provides very accurate poses but requires a permanently installed, instrumented flight space. The goal of this thesis is a markerless, GNSS-free indoor localization based solely on onboard sensors, so that the drone can fly independently of the external tracking. The work builds on the existing drone and the established ROS system architecture.</p> <h2 id="work-packages">Work Packages</h2> <ul> <li>Familiarization with the existing drone platform and the marker-based tracking system at the AerodrOHM</li> <li>Selection and integration of suitable onboard sensors (camera, IMU, optionally optical-flow or depth sensor)</li> <li>Implementation of a markerless, GNSS-free localization method (e.g. visual-inertial odometry or visual SLAM)</li> <li>Integration into the existing ROS system architecture and flight control</li> <li>Evaluation of accuracy and robustness against the marker-based tracking as ground truth</li> <li>Flight experiments and documentation of the results at the AerodrOHM</li> </ul> <h2 id="requirements">Requirements</h2> <ul> <li>Programming skills (Python and/or C++)</li> <li>Ideally some experience with ROS / ROS 2</li> <li>Basic knowledge of computer vision and/or state estimation (e.g. Kalman filter)</li> <li>Interest in drones, sensor integration and localization</li> <li>Independent and diligent way of working</li> </ul> <p>This topic can be completed as a <strong>project or bachelor&rsquo;s thesis</strong> subject to agreement.</p> <h2 id="supervision">Supervision</h2> <table> <thead> <tr> <th style="text-align: left">Role</th> <th style="text-align: left">Name</th> <th style="text-align: left">E-Mail</th> </tr> </thead> <tbody> <tr> <td style="text-align: left">Supervisor</td> <td style="text-align: left">Prof. Dr. Christian Pfitzner</td> <td style="text-align: left"><a href="mailto:christian.pfitzner@th-nuernberg.de">christian.pfitzner@th-nuernberg.de</a></td> </tr> </tbody> </table>