Check out the video of our latest test flight for the relative GPS-denied navigation system. This flight is part of the indoor navigation research effort.
In this test, the vehicle is flying autonomously, using only onboard sensors and computation. The interesting aspect of the approach is that the navigation is relative, with respect to keyframes, rather than with respect to a single global reference frame. This unique approach allows us to separate the critical process of estimation and control from the need for global information. The video shows the path planning and point cloud in the top left, and the keyframes from the onboard RGB-D camera in the top right.
We have a few papers submitted covering the details of the relative navigation approach, we will post details of those articles as soon as we can