VPS-SLAM: Visual Planar Semantic SLAM for Aerial Robotic Systems HRIDAY BAVLE1, PALOMA DE LA PUENTE1, (Member, IEEE), JONATHAN HOW2, (Fellow, IEEE) AND PASCUAL CAMPOY1, (Member, IEEE) 1Computer Vision and Aerial Robotics group, Centre for Automation and Robotics, Universidad Politécnica de Madrid (UPM-CSIC), Calle Jose Gutiérrez Abascal 2, 28006 Madrid, Spain 2Aerospace Controls Laboratory, Mass..
