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tum-vision / tum_ardrone

Repository for the tum_ardrone ROS package, implementing autonomous flight with PTAM-based visual navigation for the Parrot AR.Drone.
http://wiki.ros.org/tum_ardrone
GNU General Public License v3.0
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PTAM map plotter #42

Open tgupta3 opened 9 years ago

tgupta3 commented 9 years ago

Hello,

What method have you used to map the path taken by the drone. Does it fuse data from the IMU and the camera or is simply integration of the accelerometer using a filter to find the position.

tmagcaya commented 9 years ago

see Engels Paper. He has a EKF doing all fusings of IMU+PTAM+more

I just asked the following question about an issue with the autopilot. Can you help?: https://github.com/tum-vision/tum_ardrone/issues/51