Future Work

As I will continue to develop work in this area, there are already some ideas to advance into:

• Test some more visual odometry and SLAM frameworks as SVO [19] or LSD-SLAM [15], to check its usability in a system like this. Also, improve the usage of the current frameworks by adjusting its parameters and/or use the support of GPU processing.

• Use an external sensor fusion framework as ETHZ-ASL MSF [34], running on a partner computer of the MAV so to obtain faster update rates than the ones that the FCU can obtain by itself and using and allowing multi sensor fusion using an Extended Kalman Filter;

• After acquiring an NVIDIA Jetson TK1, the idea is to abandon the Odroid-U3 usage and advance to this super-computing platform, adapting the localization frameworks to use the CUDA cores on-board and get extreme accurate and fast localization estimates;

• Construct a customized MAV that is able to accommodate multiple sensors, as an RGB-D camera, a High resolution camera, a PX4Flow kit, a LIDAR-Lite, a low-cost 360 degrees RPLIDAR and GPS. The idea is to advance to a hybrid system which is able to do both indoor and outdoor navigation, as also to transpose from one to the other.

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Appendix A