[robotics-worldwide] [software] Open-Source Release: Build your own visual-inertial odometry aided cost-effective open-source autonomous drone

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[robotics-worldwide] [software] Open-Source Release: Build your own visual-inertial odometry aided cost-effective open-source autonomous drone

Sa  In Kyu
Dear colleagues,

It is our great pleasure to announce the release of our work "Build your own visual-inertial odometry aided cost-effective open-source autonomous drone" that makes use of the off-the-shelf visual-inertial sensor, an onboard computer, and a quadrotor platform (DJI M100) to allow researchers to build high-performance autonomous drone given a fairly reasonable budget.

To make a long story short, you can find the detail from the link below:

GitHub repo: https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ethz-2Dasl_mav-5Fdji-5Fros-5Finterface&d=DwIFAg&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=kjkuAz-JY6-qK67yZSqmCZ6K_cEqusLpphhE0XHfl04&s=xpv2caMQXVPQhdenBAu1uBBQ7wS5jBpy2Acy8A4EHCY&e=
Documentation: https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ethz-2Dasl_mav-5Fdji-5Fros-5Finterface_wiki&d=DwIFAg&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=kjkuAz-JY6-qK67yZSqmCZ6K_cEqusLpphhE0XHfl04&s=n__lSo-5yBYUIQejvRVACcwODNtMzBh7IZ330RARkrQ&e=
Paper: https://urldefense.proofpoint.com/v2/url?u=https-3A__arxiv.org_abs_1708.06652&d=DwIFAg&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=kjkuAz-JY6-qK67yZSqmCZ6K_cEqusLpphhE0XHfl04&s=9ZoFSdCMiBgDRLgSwaZBFfbhYmUikbW1rK178t3XPBU&e=
Video: https://urldefense.proofpoint.com/v2/url?u=https-3A__youtu.be_fm2yDgHRSWg&d=DwIFAg&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=kjkuAz-JY6-qK67yZSqmCZ6K_cEqusLpphhE0XHfl04&s=-fyGEZNdKcYPcQMM8zSbvrD4f1bHRcxvjuKEMOAtYkg&e=

Summary of key features
* Demonstration of several use cases utilizing our approach to show its repeatability.
* The total cost is 3169 USD to build your vi-drone.
* Providing intrinsic/extrinsic calibration sample dataset with tutorial documentation.
* Indoor (Vicon motion capture)/outdoor (Leica laser tracker) ground truth comparisons for control and state estimation performance.
* Tracking RMS error 0.036m while hover (more RMS can be found from the paper above).
* 0.82% drift error for 180m outdoor flight test in an agricultural scenario.
* Integrating our open-source packages (Rovio, MPC, MSF, Trajectory generator, and Kalibr)

We greatly acknowledge our support EU projects: Flourish and Aeroworks.
All feedback is very welcome!
ASL team: Inkyu Sa, Mina Kamel, Michael Burri, Michael Bloesch, Raghav Khanna, Marija Popovic, Juan Nieto, and Roland Siegwart

Inkyu Sa | Postdoctoral Research Fellow
Department of Mechanical and Process Engineering | Institute of Robotics and Intelligent Systems
Autonomous Systems Lab. | ETH Zurich
E: [hidden email]<mailto:[hidden email]> | T: +41 44 632 33 02
YouTube: https://urldefense.proofpoint.com/v2/url?u=http-3A__goo.gl_p9ZgdM&d=DwIFAg&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=kjkuAz-JY6-qK67yZSqmCZ6K_cEqusLpphhE0XHfl04&s=zHR29HBrr_NzuBF4MNpgrtBQKOSDpsHGJRiQjAPUCSI&e= | GoogleScholar: https://urldefense.proofpoint.com/v2/url?u=http-3A__goo.gl_yjmiPW&d=DwIFAg&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=kjkuAz-JY6-qK67yZSqmCZ6K_cEqusLpphhE0XHfl04&s=VFBaNZ8eaid_Htg9FX73Qt4F3SE43GLCHtQrJYJ0bw4&e=
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