Nature · Delft University of Technology · Micro Air Vehicle Laboratory

For odometry, a PMW3901 optical flow sensor provides horizontal motion data, whereas a TFmini-S LiDAR rangefinder measures height for vertical positioning.

Initial experiments used an Intel RealSense D435i depth camera with the depth map segmented into left, centre and right average-depth bins, whereas the later experiments used three TF-Nova LiDAR sensors monitoring a 1° × 14° field of view for each sector.