Master Thesis

UAV monocular visual-inertial odometry

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  • If you are interested in the proposal, please contact with the supervisors.


Design and implementation of a localization method to compute the odometry (vehicle state) of an unmanned aerial vehicle (UAV) by means of visual (camera) and inertial (accelerometers and gyroscopes) measurements. The implementation of the odometry scheme will be done within a graph structure and solved using optimization tools. To validate the developed approach, it will be embedded on a UAV to perform real experiments and compare the estimated vehicle states with those from a motion capture system from the Mobile Robotics group at the Institut de Robòtica i Informàtica Industrial (IRI).

Profile of the student:
We are looking for a Master student from the fields of Automation and Robotics, Mathematical Engineering or Computer Science. Good programming skills (C++ and Matlab); good English verbal and written communications skills; and ability to work in a team environment are a must. Knowledge of ROS is desirable. This work is expected to be developed as a TFM (Master thesis).

This work can be remunerated through an INIREC grant. This grant is expected to have a duration of 6 months, with a dedication of 15 hours per week, and a remuneration of around 500 € per month.

How to apply
Send an e-mail to with your CV and academic transcripts.

The work is under the scope of the following projects:

  • MdM: Unit of Excellence María de Maeztu (web)