Micro Quadcopter with Computer Vision and Range Sensors(Autonomous)

[anbello (Andrea Belloni)]

Hi erem
I did not use separate device for altitude detection (sonar or lidar), the only sensor used was the camera. From the detected Aruco Board i obtain the pose estimation of the drone: z, y, z, roll, pitch, yaw.

It is explained in the wiki:
https://ardupilot.org/dev/docs/ros-aruco-detection.html
and blog post:

Indoor autonomous flight with Arducopter, ROS and Aruco Boards Detection

I would like to show my work (in progress) on a simple system capable to realize indoor autonomous flight. The system is based on a quadcopter with a camera that stream video (and telemetry) to a desktop PC and receive pose estimation message and command from the same PC. The camera is downward looking and on the floor there is an Aruco Boards like this: [ppp] The pose estimation is calculated by aruco_gridboard ROS package on the PC and the relevant messages are sent back to the quadcopte…