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MAVSlam

★ 52 Open GitHub ↗

Visual odometry based on Intel® RealSense™ devices

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# MAVSlam - Visual odometry & SLAM for PX4

#### Onboard visual odometry for PX4

(Deprecated)

Integrate  Intel® RealSense™ R200 depth camera as an oboard visual input source for PX4 using the [UP-Board]( http://www.up-board.org) as companion:

- Estimate position and speed based on stereo depth images up to 60 fps for LPE /EKF2
- Stream video to MAVGCL with overlays 
- Feature-based or depth obstacle detection
- Integration with PX4 via MAVLink ([MAVComm](https://github.com/ecmnet/MAVComm) required)

Prerequisites:

- UP-Board running Ubilinux 3.0 with Java 8 (minimum) stack connected via serial link to PX4 controller
- Intel® RealSense™ R200 (connected with external power supply)

Video:

<https://youtu.be/jOWNSIwIA9k>

Heading estimation:

![https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/heading.png](https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/heading.png)

XY Estimation:

![https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/screenshot6.png](https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/screenshot6.png)

Obstacle detection:

![https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/obstacle.png](https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/obstacle.png)

MicroSLAM:

![https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/microslam.png](https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/microslam.png)

#### Desktop odometry demo

A first implementation using Intel® RealSense™ R200 with boofcv on OSX/Linux platforms. Based on https://github.com/IntelRealSense/librealsense and http://boofcv.org/index.php?title=Main_Page.

![https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/RealSense.png](https://raw.githubusercontent.com/ecmnet/MAVSlam/master/MAVSlam/RealSense.png)

MAVSlam

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