Ya we continue here only. Really great to know that it’s working for you. If you can share a log and the video, it would be really interesting to analyze it.
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I don’t have results from real life, but if you are using a powerful companion computer, I am using position correction based on loop closure to correct the drift. It’s still in development as sometimes there are false positives and it can worsen the results.
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They all serve the similar purpose. Other methods haven’t been merged and tested intensively yet. So I resorted to this one. Also position estimate is a bit delayed in my case, and hence I used MAV_CMD_EXTERNAL_POSITION_ESTIMATE.
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Yes IMU improved the system. IMU data is back tracked to correct drift and dead reckoned for a very small fraction of time to compensate for processing time.
I am currently trying two different methods right now:
- Which doesn’t require pre-processed dataset of images
- Which needs satellite image or orthophoto of the area.
Also, I have posted an update here: GSoC 2024 wrapping up: High Altitude Non-GPS Navigation - #10 by snktshrma