We have implemented a high-performance parallel tracking and mapping system to achieve monocular self-localisation and mapping on-board a small aerial vehicle. Due to the long trajectories that are flown, the high dynamics of the motion of the vehicle, and dynamic objects in the scene, we use additional sensors including an Inertial Measurement Unit featuring accelerometers and gyroscopes, a magnetometer, air-pressure data, and GPS information where available.
The video of this system was presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems 2012. The framework that we have developed is publically available at http://www.asl.ethz.ch/research/software
. The packages ethzasl_ptam
, and asctec_mav_framework
have been developed partially in the myCopter project.
The video can be watched here