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ROS nodes for aerial vehicle localization

asked 2015-03-24 11:37:00 -0600

nvoltex
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updated 2015-03-24 11:51:51 -0600

Hey there,

I'm developing an aerial vehicle which is equipped with a GPS, IMU and bottom camera (pointed at the ground for target tracking). I was looking for a way to fuse the data, with two objectives:

Obtaining a coordinate for the "drone" localization (I could assume it starts at (0,0))
Extrating a position of the detected targets (on the "local coordinate system" and GPS information)

Which nodes will prove useful for this application?

Thanks in advance

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answered 2015-03-30 10:21:19 -0600

Gary Servin

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I think robot_localization may be what you are looking for.

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Thanks for the help! That seems to be what I need, but does it work with only GPS and IMU?

nvoltex ( 2015-04-07 10:38:27 -0600 )edit

On the ROS wiki page for robot_localization you can see an image showing that you can also use a camera and a 3D sensing device, provided that you extract the necessary information from them. For the camera you may use something like viso2_ros package.

Gary Servin ( 2015-04-07 14:56:21 -0600 )edit

Does that mean that the GPS combined with the IMU is not enough? Another question: The IMU data used by robot_localization needs the pose? or only the raw data (linear accelaration and angular velocity)?

nvoltex ( 2015-04-08 05:14:23 -0600 )edit

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Asked: 2015-03-24 11:37:00 -0600

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Last updated: Mar 30 '15

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ROS nodes for aerial vehicle localization