Borrowed Eyes: Markerless Nano-UAV Flight with an Active Quadruped Observer

arXiv:2610.09967 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Code: https://github.com/IMRCLab/crazyswar

Terminology

• Accuracy — 13× in this paper · explained in 1 episode
• Consistency — 6× in this paper · explained in 3 episodes
• Trace — 5× in this paper · explained in 2 episodes
• Alignment — 3× in this paper · explained in 1 episode
• Calibration — 3× in this paper · explained in 7 episodes
• Aggregation — 2× in this paper · explained in 1 episode
• Robustness — 2× in this paper · explained in 5 episodes
• Active Perception — 1× in this paper · explained in 2 episodes
• Angular Error — 1× in this paper · explained in 1 episode
• Aperture — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Degeneracy — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Segmentation Masks — 1× in this paper · explained in 2 episodes

Sources

• NanoSLAM: Enabling Fully Onboard SLAM for Tiny Robots
• Towards Quadruped-Provided Localization and Active Tracking for Micro-UAVs
• Fly, Track, Land: Infrastructure-less Magnetic Localization for Heterogeneous UAV-UGV Teaming
• Markerless Robot Detection and 6D Pose Estimation for Multi-Agent SLAM
• FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects
• Any6D: Model-free 6D Pose Estimation of Novel Objects
• SAM 2: Segment Anything in Images and Videos

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