VI-RPE: Visual-Inertial Relative Pose Estimation for Aerial Vehicles.

With a large body of literature dedicated to ego-motion estimation and perception of a robot's workspace, the robotics community has seen some impressive advances in self-localization and mapping, however, we are still far from general applicability of such approaches in real scenarios. Driven by the need for portable and low-cost solutions to relative pose estimation between unmanned aerial vehic...