Indoor non-GPS flight using AprilTags (ROS-based)

[ppoirier]

Thanks, @LuckyBird that is a good start for your GSOC project:

GSoC 2019: Integration of ArduPilot and VIO tracking camera for GPS-less localization and navigation

[image] 1. Introduction Navigation through unfamiliar spaces while avoiding obstacles is always of utmost importance for any autonomous robots. In many applications for ground and aerial robots, there is a growing need for accurate navigation and localization in areas where GPS is not accessible. One such technology that has the capability to provide accurate, robust GPS-less localization and navigation is visual inertial odometry (VIO), which combines information from a camera and an inertial …