Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: State Estimation in Visual Inertial Autonomous Helicopter Landing Using
  Optimisation on Manifold   Autonomous helicopter landing is a challenging task that requires precise
information about the aircraft states regarding the helicopters position,
attitude, as well as position of the helipad. To this end, we propose a
solution that fuses data from an Inertial Measurement Unit (IMU) and a
monocular camera which is capable of detecting helipads position in the image
plane. The algorithm utilises manifold based nonlinear optimisation over
preintegrated IMU measurements and reprojection error in temporally uniformly
distributed keyframes, exhibiting good performance in terms of accuracy and
being computationally feasible. Our contributions of this paper are the formal
address of the landmarks Jacobian expressions and the adaptation of equality
constrained Gauss-Newton method to this specific problem. Numerical simulations
on MATLAB/Simulink confirm the validity of given claims.

13
The categories of this paper are: quant-ph
33
The categories of this paper are: plasm-ph
5
The categories of this paper are: gr-qc
18
The categories of this paper are: econ
35
The categories of this paper are: mtrl-th
28
The categories of this paper are: alg-geom
7
The categories of this paper are: hep-th
31
The categories of this paper are: ao-sci
37
The categories of this paper are: supr-con
29
The categories of this paper are: funct-an
3
The categories of this paper are: physics
26
The categories of this paper are: bayes-an
36
The categories of this paper are: cmp-lg
20
The categories of this paper are: acc-phys
0
The categories of this paper are: hep-ph
24
The categories of this paper are: dg-ga