The future operational use of Unmanned Aerial Vehicles (UAVs) depends on the level of safety that can be achieved during the flight. Sensing the environment, detecting and avoiding obstacles remains a challenging task. This paper describes the system architecture of a demonstrator using stereo cameras for obstacle detection and avoidance. Furthermore, monocular cameras and Ultra-Wide-Band (UWB) are used for pose estimation and Simultaneous Localization and Mapping (SLAM) algorithms.
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