ROS packages for vision-based MAVs.
Required dependencies:
If you use the packages for an academic publication, please cite either or both of the following papers depending on which packages you use:
Lionel Heng, Gim Hee Lee, and Marc Pollefeys,
Self-Calibration and Visual SLAM with a Multi-Camera System on a Micro Aerial Vehicle,
In Proc. Robotics: Science and Systems (RSS), 2014.
Lionel Heng, Dominik Honegger, Gim Hee Lee, Lorenz Meier,
Petri Tanskanen, Friedrich Fraundorfer, and Marc Pollefeys,
Autonomous Visual Mapping and Exploration With a Micro Aerial Vehicle,
Journal of Field Robotics (JFR), 31(4):654-675, 2014.
For hardware synchronization between the IMU on any AscTec platform and a single/multi-camera system, perform the following steps:
The primary author, Lionel Heng, is funded by the DSO Postgraduate Scholarship. This work is partially supported by the SNSF V-MAV grant (DACH framework).
The repository includes third-party code from the following sources:
1. M. Rufli, D. Scaramuzza, and R. Siegwart,
Automatic Detection of Checkerboards on Blurred and Distorted Images,
In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008.
2. Sameer Agarwal, Keir Mierle, and Others,
Ceres Solver.
https://code.google.com/p/ceres-solver/
3. D. Galvez-Lopez, and J. Tardos,
Bags of Binary Words for Fast Place Recognition in Image Sequences,
IEEE Transactions on Robotics, 28(5):1188-1197, October 2012.
4. L. Kneip, D. Scaramuzza, and R. Siegwart,
A Novel Parametrization of the Perspective-Three-Point Problem for a
Direct Computation of Absolute Camera Position and Orientation,
In Proc. IEEE Conference on Computer Vision and Pattern Recognition, 2011.
5. pugixml
http://pugixml.org/
6. E. Olson,
AprilTag: A robust and flexible visual fiducial system,
In Proc. IEEE International Conference on Robotics and Automation, 2011.