##Alternate Navigation System for ArduPilot This project brings together SLAM and marker recognition
#####it is trying to do...
- Allow an air vehicle to localise itself in large environments (e.g. outdoors) and operate in the absence of GPS
#####is it not trying to do (yet)...
- Perform navigation through cluttered, complex environments
This project is primarily leveraging two computer vision projects; ORB-SLAM 2 and ArUco. ORB-SLAM is used to generate the local 'orb world' which the UAV navigates, while ArUco serves as a method to constrain scale, drift and tie the 'orb world' back to 'real world' e.g. lat, lon, alt.
Feature based mapping with a graph based back end. Marker observations are used to add 'hard' edges to the graph.
I'm personally interested in computer vision and unmanned systems. This project allows me to develop skills while contributing ideas back to the Ardupilot community.
- Write notes on camera cal
- Write notes on loose Ardupilot EKF integration.