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Indoor Mapping and Localization for Drones

asked 2017-12-05 23:09:07 -0500

Andreluizfc gravatar image


I am assembling a drone using the Intel® Aero Compute Board, Intel® Aero Vision Accessory Kit (Intel® RealSense™ R200 stereo camera) and other sensors. I don't know where to start and which packages to use. My goal is to build a map, and let the drone navigate and localize in the environment. I would like to know the existence of any package for Mapping and Localization. Thank you.

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answered 2017-12-06 02:08:55 -0500

Humpelstilzchen gravatar image

updated 2017-12-06 02:12:34 -0500

However I highly recommend that you do all the ros tutorials first.

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How about an AMCL algorithm? I'll sometimes upload a map and try to perform localization. I'm good with concepts, but not practice. Thanks!

Andreluizfc gravatar image Andreluizfc  ( 2017-12-06 15:01:46 -0500 )edit

You could usedepthimage_to_laserscan to convert your 3d image to 2d lidar data for amcl. But thats not very useful for flying objects where the xy plane changes with the height. Assuming with Drone you refer to an UAV.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-12-06 15:09:14 -0500 )edit

It's a quadrotor, yes! My intention is navigation in a fixed Z altitude. I'll model possible obstacles with 3D point cloud and avoid during the navigation.

Andreluizfc gravatar image Andreluizfc  ( 2017-12-06 15:56:49 -0500 )edit

Besides RTABmap and GMapping, would you recommend other package for building 2D maps? Thanks again, you're being very helpful!

Andreluizfc gravatar image Andreluizfc  ( 2017-12-08 00:40:48 -0500 )edit

hector_mapping might be more useful for you then gmapping because of missing wheel odometry.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-12-08 01:00:51 -0500 )edit

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Asked: 2017-12-05 23:09:07 -0500

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Last updated: Dec 06 '17