Real-Time Visual-Inertial Mapping, Re-localization and Planning Onboard MAVs in Unknown Environments

This is the video to our IROS 2015 submission. It shows our MAV in a realistic industrial environment. We only use a stereo camera, an IMU and onboard processing for our experiment. First the MAV is piloted manually giving high-level velocity commands to create a map. This map is then used to relocalize and plan a path back to the starting position. In the second part, the previously built map is used to plan a path back to a point in the known map.