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This paper realizes the localization method base on the SVO (Semi-Direct Visual Odometry) and IMU (Inertial Measurement Unit) without GPS. According to this novel visual estimation method, the position and orientation are estimated by the MSF (Multi Sensor Fusion) with EKF (Extended Kalman Filter). In order to consider the actual application, the accuracy and the repeatability are evaluated and analyzed. For this purpose, two types of experiments are performed, in which the accuracy and the repeatability of our navigation platform are described and analyzed.

Integrated Navigation Method and Realization Based on Monocular and IMU for Quadrotor