MAV hardware- and software-setup

Paper | Video | Wiki

This repository contains a description of the harware- and software-setup used at the Vision for Robotics Lab for autonomous MAV flights, see Figure 1.

Please head over to the wiki of this repository for the full description.

Figure 1 MAV during fully autonomous flight.

Content

MAV Hardware
    Frame
    On-Board Computing
        Communication with the Flight Controller
        Intel NUC
        Jetson
        Example Setup
    Remote Control
    Power
        Batteries
        Power Hot-Swap
        12V Rail
        Wiring
    Sensors
    Resources
        3D Modelled Parts
        PCBs
MAV Software
    Overview
    Mavros
    QGroundControl
    Planning with ROS
        Using RTK GPS
        Using Visual-Inertial Odometry
        Sending commands to the MAV
    Useful Software

Publication

This work was presented at the 9^th International Conference on 3D Vision (3DV 2021) in the demo session. If you use this repository in your academic work, please cite (PDF):

@misc{Kompis2021Fully,
  copyright = {In Copyright - Non-Commercial Use Permitted},
  year = {2021-12-02},
  author = {Kompis, Yves and Bartolomei, Luca and Chli, Margarita},
  DOI = {10.3929/ethz-b-000520507},
  title = {Fully Autonomous Live 3D Reconstruction with an MAV: Hardware- and Software-Setup},
  Note = {9th International Conference on 3D Vision (3DV 2021); Conference Location: Online; Conference Date: December 1-3, 2021; This demo was presented at the International Conference on 3D Vision (3DV) 2021}
}

Abstract

In this demo we present a versatile Micro-Aerial Vehicle (MAV) setup demonstrating fully autonomous live 3D reconstruction in real-world scenarios. With the aim of reproducability we provide key information on both the hardware- and software-setup.

Video

Fully Autonomous Live 3D Reconstruction with an MAV: Hardware- and Software-Setup 1:56