GPS-Denied Autonomy via Visual-Inertial Odometry for UAVs

Developed an autonomy stack for the CrazyFlie 2.0 by integrating VIO based state estimation with trajectory planning and SE(3) control. Utilized real-time sensor data from noisy IMU and stereo features to enable robust tracking with a local planner in obstacle-rich environments achieving reliable, collision-free navigation in simulation and hardware testing.

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layout: page
title: project
description: a project with a background image
img: /assets/img/12.jpg
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Caption photos easily. On the left, a road goes through a tunnel. Middle, leaves artistically fall in a hipster photoshoot. Right, in another hipster photoshoot, a lumberjack grasps a handful of pine needles.

This image can also have a caption. It's like magic.

You can also put regular text between your rows of images, even citations (Einstein & Taub, 1950). Say you wanted to write a bit about your project before you posted the rest of the images. You describe how you toiled, sweated, bled for your project, and then… you reveal its glory in the next row of images.

The code is simple. Just wrap your images with <div class="col-sm"> and place them inside <div class="row"> (read more about the Bootstrap Grid system). To make images responsive, add img-fluid class to each; for rounded corners and shadows use rounded and z-depth-1 classes.