Overview

This package contains one single node: rgbdodom_node, which estimates robot motion based on incoming raw color and depth images from an RGB-D camera and an on-board IMU.

Tf tree

The transforms tree (following REP 105) is as follows:

• odom → base_link → camera

Visual odometry algorithms generally calculate camera motion. To be able to calculate robot motion based on camera motion, the transformation from the camera frame to the robot frame has to be known. Therefore this implementation needs to know the tf base_link → camera to be able to publish odom → base_link. The node currently uses default values from the sensor setup on the AscTec Neo Research platform.

Nodes

Citing

If you use rgbdodom in an academic context, please cite the following publication: http://ieeexplore.ieee.org/document/7502653/

@INPROCEEDINGS{7502653,
  author={F. J. Perez-Grau and F. R. Fabresse and F. Caballero and A. Viguria and A. Ollero},
  booktitle={2016 International Conference on Unmanned Aircraft Systems (ICUAS)},
  title={Long-term aerial robot localization based on visual odometry and radio-based ranging},
  year={2016},
  pages={608-614},
  doi={10.1109/ICUAS.2016.7502653},
  month={June},}