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quadRotor odom. options (single camera?)

asked 2013-06-02 17:09:43 -0500

price13
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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

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answered 2013-06-02 17:55:18 -0500

ayush_dewan

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To use a single camera u need to use some VSLAM algorithm to estimate the position of quadrotor and build a map. PTAM is one such algorithm. http://ros.org/wiki/ethzasl_ptam

You can try this package.

Hope it helps..

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Asked: 2013-06-02 17:09:43 -0500

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quadRotor odom. options (single camera?)