This repository contains a description of the harware- and software-setup used at the Vision for Robotics Lab for autonomous MAV flights, see Figure 1.
Please head over to the wiki of this repository for the full description.
Figure 1 MAV during fully autonomous flight.
MAV Hardware
Frame
On-Board Computing
Communication with the Flight Controller
Intel NUC
Jetson
Example Setup
Remote Control
Power
Batteries
Power Hot-Swap
12V Rail
Wiring
Sensors
Resources
3D Modelled Parts
PCBs
MAV Software
Overview
Mavros
QGroundControl
Planning with ROS
Using RTK GPS
Using Visual-Inertial Odometry
Sending commands to the MAV
Useful Software
This work was presented at the 9th International Conference on 3D Vision (3DV 2021) in the demo session. If you use this repository in your academic work, please cite (PDF):
@misc{Kompis2021Fully,
copyright = {In Copyright - Non-Commercial Use Permitted},
year = {2021-12-02},
author = {Kompis, Yves and Bartolomei, Luca and Chli, Margarita},
DOI = {10.3929/ethz-b-000520507},
title = {Fully Autonomous Live 3D Reconstruction with an MAV: Hardware- and Software-Setup},
Note = {9th International Conference on 3D Vision (3DV 2021); Conference Location: Online; Conference Date: December 1-3, 2021; This demo was presented at the International Conference on 3D Vision (3DV) 2021}
}
In this demo we present a versatile Micro-Aerial Vehicle (MAV) setup demonstrating fully autonomous live 3D reconstruction in real-world scenarios. With the aim of reproducability we provide key information on both the hardware- and software-setup.
Fully Autonomous Live 3D Reconstruction with an MAV: Hardware- and Software-Setup 1:56
