quadRotor odom. options (single camera?)
Hi all,
I have a quadrotor with the following sensors: : sparton IMU : hokuyo URG : forward facing camera : downward facing camera
I've messing around with hector_slam using the IMU and the laser range finder. The problem is that when It goes down a relatively featureless environment (such as a bare hallway) it doesn't notice that it is moving. This of course causes problems with the mapping.
I know that it is technically possible to use IMU data to create odom data, however I also know that it can become completely unusable due to error in a few seconds.
My main question is if any of you know of a way which takes a single camera and finds odom data. Any suggestions for a possible solution would be great.
(I'm on fuerte)
Thank you, Price