Orientation (yaw) estimation using external cameras

asked 2018-04-13 15:41:29 -0600

malharjajoo gravatar image

updated 2018-04-14 05:21:57 -0600


I am working on a project that involves using static and external (not on the drone) stereo cameras for obtaining the 3D coordinate of a drone. I am currently trying to obtain orientation (yaw only) estimate of the drone using a pair of external (manually) calibrated stereo cameras.

My Question:

Are there any existing ways to do this in ROS ? I have seen this tutorial from OpenCV (but haven't yet tried it on the drone) but wanted to know if anyone has used any existing ROS packages ? Thanks!

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Wouldn't this be a task for one of the various visual odometry packages?

gvdhoorn gravatar imagegvdhoorn ( 2018-04-14 00:51:17 -0600 )edit

Doesnt visual odometry mean estimating robot motion from camera motion ? The stereo cameras here are static and just monitor the robot. Wil the visual odom packages like libvis2 still work ?

malharjajoo gravatar imagemalharjajoo ( 2018-04-14 02:54:32 -0600 )edit

Yes, you're right. It's typically used to calculate motion of the camera relative to features observed. I missed the part where your cameras are observing your robot.

gvdhoorn gravatar imagegvdhoorn ( 2018-04-14 03:23:22 -0600 )edit

Why did you delete your question?

gvdhoorn gravatar imagegvdhoorn ( 2018-04-14 03:23:29 -0600 )edit

Oh, sorry .. may have happened by accident ... and I edited the question slightly to explain that I am using static and external cameras (was my fault for not mentioning it clearly).

malharjajoo gravatar imagemalharjajoo ( 2018-04-14 05:23:27 -0600 )edit

How big is your flying area? The easiest way would be add some markers (e.g. aruco, artoolkit, ...)

NEngelhard gravatar imageNEngelhard ( 2018-04-14 07:38:36 -0600 )edit

yes, I will be adding them, but I am trying to use the stereo cameras as the main sensor for navigation. My flying area may be 5x5 m or larger, depending on how well the cameras perform.

malharjajoo gravatar imagemalharjajoo ( 2018-04-14 08:39:31 -0600 )edit