Rtabmap on Drone

asked 2017-08-11 10:51:33 -0600

robdan gravatar image

updated 2017-08-11 10:57:44 -0600

Hello, Just would like to get some recommendations on implementing 3D SLAM on a drone. I've used Rtabmap in the past with ground robots and it worked pretty well. I have now set up rtabmap with an Intel NUC and a realsense zr300. Just testing it hand held in a drone flight space (which unfortunately has limited features and colors), it worked horribly, odom often crashing, and even when the odometry is working fine, the data differs from the Vicon measured data by a few meters. Fusing the IMU data from the realsense with the rgbd visual odometry using robot_pose_ekf did not help (rather, made it worse.)

For those of you who have done 3D SLAM on a drone before, any recommendations on ROS packages and implementations for decently accurate localization and mapping?

Many thanks,

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