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Paper Abstract and Keywords
Presentation 2026-08-07 18:00
Toward Lightweight Visual SLAM for Autonomous Flight of Micro-Drones
Hiroto Sugai, Keisuke Sugiura, Takuya Kojima, Yoshiki Yamaguchi (Univ. Tsukuba), Ryouhei Tsugami, Toshihito Fujiwara, Tatsuya Fukui, Satoshi Narikawa (NTT) CPSY2026-36 DC2026-36 RECONF2026-36
Abstract (in Japanese) (See Japanese page) 
(in English) We propose a lightweight visual SLAM algorithm for the Bitcraze Crazyflie, a representative micro-drone, using an optical flow sensor, a ToF (Time of Flight) ranging sensor, and a monocular camera. Building on self-localization with the optical flow and ToF sensors, the proposed method estimates the vehicle's motion by matching floor-surface feature points observed with the monocular camera to suppress accumulated error, and corrects the flight trajectory through loop closure with previously visited places. In circuit-flight evaluations in simulation, configurations with loop closure reduced the position error upon returning to the starting point to one-half to one-third of that with the optical flow sensor alone, below even a configuration with ideal noise-free sensors but no loop closure. The proposed method kept the return position error within 0.13 m across all circuit patterns of 12--80 m total path length and up to three laps, and was the best in four of the six multi-lap patterns.
Keyword (in Japanese) (See Japanese page) 
(in English) micro-drone / self-localization / visual odometry / loop closure / extended Kalman filter / / /  
Reference Info. IEICE Tech. Rep., vol. 126, no. 140, CPSY2026-36, pp. 115-120, Aug. 2026.
Paper # CPSY2026-36 
Date of Issue 2026-07-30 (CPSY, DC, RECONF) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF CPSY2026-36 DC2026-36 RECONF2026-36

Conference Information
Committee CPSY DC RECONF IPSJ-ARC  
Conference Date 2026-08-05 - 2026-08-07 
Place (in Japanese) (See Japanese page) 
Place (in English) Hida Earth Wisdom Center 
Topics (in Japanese) (See Japanese page) 
Topics (in English) SWoPP2026: Parallel, Distributed and Cooperative Processing Systems and Dependable Computing 
Paper Information
Registration To CPSY 
Conference Code 2026-08-CPSY-DC-RECONF-ARC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Toward Lightweight Visual SLAM for Autonomous Flight of Micro-Drones 
Sub Title (in English)  
Keyword(1) micro-drone  
Keyword(2) self-localization  
Keyword(3) visual odometry  
Keyword(4) loop closure  
Keyword(5) extended Kalman filter  
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1st Author's Name Hiroto Sugai  
1st Author's Affiliation University of Tsukuba (Univ. Tsukuba)
2nd Author's Name Keisuke Sugiura  
2nd Author's Affiliation University of Tsukuba (Univ. Tsukuba)
3rd Author's Name Takuya Kojima  
3rd Author's Affiliation University of Tsukuba (Univ. Tsukuba)
4th Author's Name Yoshiki Yamaguchi  
4th Author's Affiliation University of Tsukuba (Univ. Tsukuba)
5th Author's Name Ryouhei Tsugami  
5th Author's Affiliation NTT Access Network Service Systems Laboratories, NTT Corporation (NTT)
6th Author's Name Toshihito Fujiwara  
6th Author's Affiliation NTT Access Network Service Systems Laboratories, NTT Corporation (NTT)
7th Author's Name Tatsuya Fukui  
7th Author's Affiliation NTT Access Network Service Systems Laboratories, NTT Corporation (NTT)
8th Author's Name Satoshi Narikawa  
8th Author's Affiliation NTT Access Network Service Systems Laboratories, NTT Corporation (NTT)
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Speaker Author-1 
Date Time 2026-08-07 18:00:00 
Presentation Time 25 minutes 
Registration for CPSY 
Paper # CPSY2026-36, DC2026-36, RECONF2026-36 
Volume (vol) vol.126 
Number (no) no.140(CPSY), no.141(DC), no.142(RECONF) 
Page pp.115-120 
#Pages 6 
Date of Issue 2026-07-30 (CPSY, DC, RECONF) 

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