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    SLAM localization with TOF

    Mapping and Planning
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    • wilkinsafW
      wilkinsaf Dev Team
      last edited by

      Hello,

      I understand that currently, localization is done through QVIO via the tracking camera.
      For redundancy sake, I was wondering if there is any development work on localization through the TOF camera in tandem with the tracking camera.

      Thank you for any information!

      wilkinsafW 1 Reply Last reply Reply Quote 0
      • wilkinsafW
        wilkinsaf Dev Team @wilkinsaf
        last edited by

        From @James-Strawson

        "we have not, however there are a ton of open source point-cloud based localization methods and VOXL2 is a great platform to try them on!"

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        • wilkinsafW
          wilkinsaf Dev Team
          last edited by

          This seems to be a popular ROS2 node that appears to be setup to use lidar:
          https://github.com/SteveMacenski/slam_toolbox

          Appears to do localization. We could probably attempt to modify the source code to send VISION_POSITION_ESTIMATE messages to the PX4 instance

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