Aerial inertial-SLAM: Progresses and future challenges

This paper will summarise the recent progresses made in the area of aerial SLAM, particularly focusing on high-dynamics and high-maneuvering flying vehicles. Although there have been significant progresses in SLAM for low-dynamic platforms, such as multi-rotors which has virtually 3-DOF motion, the high-dynamic vehicles still have many theoretical and practical challenges, such as high-dimensionality and non-linearity in the vehicle state and high-speed sensing and perception. This paper will briefly introduce 1) the partitioned Rao-blackwellised SLAM approach and 2) GPS raw measurement integration into SLAM to maximise the sensor calibration. Future challenges and outlooks will be discussed.