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Visual odometry based on Intel® RealSense™ devices

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MAVSlam - Visual odometry & SLAM for PX4

Onboard visual odometry for PX4

(Deprecated)

Integrate Intel® RealSense™ R200 depth camera as an oboard visual input source for PX4 using the UP-Board as companion:

  • Estimate position and speed based on stereo depth images up to 60 fps for LPE /EKF2
  • Stream video to MAVGCL with overlays
  • Feature-based or depth obstacle detection
  • Integration with PX4 via MAVLink (MAVComm required)

Prerequisites:

  • UP-Board running Ubilinux 3.0 with Java 8 (minimum) stack connected via serial link to PX4 controller
  • Intel® RealSense™ R200 (connected with external power supply)

Video:

https://youtu.be/jOWNSIwIA9k

Heading estimation:

https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/heading.png

XY Estimation:

https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/screenshot6.png

Obstacle detection:

https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/obstacle.png

MicroSLAM:

https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/microslam.png

Desktop odometry demo

A first implementation using Intel® RealSense™ R200 with boofcv on OSX/Linux platforms. Based on https://github.com/IntelRealSense/librealsense and http://boofcv.org/index.php?title=Main_Page.

https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/RealSense.png

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