AprilMAV is an indoor navigation system (based on Apriltags), designed for use with ArduPilot. It allows decent accuracy (<5cm) whilst being able to run on inexpensive hardware.
From my original post a few years ago (Aprilmav: Indoor Navigation for ArduPilot), the AprilMAV software has been substantially updated, with:
- Improved velocity estimation via an EKF filter
- Support for more cameras
- Cameras can now be mounted in any direction
- Performance enhancements, with support for CUDA (where available)
- Improved accuracy in bad lighting conditions
I’ve published a video showing how it works and general usage, plus a few demonstrations with ArduPilot-based rovers:
Source code and documentation is available at GitHub - stephendade/aprilmav: Indoor navigation via Apriltags over MAVLink