Here are some demo videos of the quadrotor from the end of the bachelors project.
Flying through one of the mentioned "gates", this is fully autonomous flight with a shell script passing set-point to the position controller to follow way-points:
A video of me pushing the drone around to test stability under external disturbances:
A downside of the current implementation of visual odometry is that it relies heavily on having distinct features to track between images. As the features have to be corners, it only works, if the structure of the floor is textured enough (here the tape is used to create extra features).