Event-camera tracking of propeller frequencies and ellipse fitting yields under 3% frequency error on five real outdoor quadrotor flights and supplies thrust and tilt inputs for relative state estimation.
Efficient component labeling of images of arbitrary dimension represented by linear bintrees,
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Relative State Estimation using Event-Based Propeller Sensing
Event-camera tracking of propeller frequencies and ellipse fitting yields under 3% frequency error on five real outdoor quadrotor flights and supplies thrust and tilt inputs for relative state estimation.