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Visual-Inertial Odometry Onboard Snapdragon Flight

An investigation into real-time tracking using a fusion between a monocular camera and inertial measurement unit to be used onboard a drone.

cyrusvorwaldCyrusVorwald
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A comparison between odometry packages on ROS and Vicon for ground truth data.

process_csv.py

Processes csv files generated by ROS and Vicon

x-python - 2.13 kB - 04/11/2017 at 03:09

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make_csv.py

Puts generated ROS and Vicon into a more consistent format

x-python - 411.00 bytes - 04/11/2017 at 03:09

Download

  • 1 × https://github.com/ATLFlight/ros-examples VISLAM made for Snapdragon Flight
  • 1 × https://github.com/raulmur/ORB_SLAM2 ORBSLAM2 State of the art open source odometry package
  • 1 × Snapdragon Flight Lightweight hardware used for tracking and autopilot communication

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