# VIO Algorithms

Source: https://forum.modalai.com/topic/3037/vio-algorithms
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: vio
Posted: 2024-01-22 10:48:38 UTC by leonardo Andrade 0
Replies: 2 · Views: 851

## leonardo Andrade 0 · 2024-01-22 10:48:38 UTC

Good Morning guys,

I would like to know how could I test my own VIO algorithms on sentinel drone.

Best Regards!

## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-22 18:30:15 UTC

@leonardo-Andrade-0 , you should take a look at the software architecture diagram here :

https://docs.modalai.com/mpa/

look for a process called `voxl-qvio-server` in the diagram. It receives camera images (from `voxl-camera-server`) and IMU data (from `voxl-imu-server`) 

You can create your own process that subscribes to camera and imu data similarly to `voxl-qvio-server` and implement your own algorithm. 

You will probably benefit from using a logging / playback feature as well (to record and play back images and imu data). Then you can play back data and compare output from voxl-qvio-server and your implementation.

Resources:
- https://docs.modalai.com/mpa/
- https://gitlab.com/voxl-public/voxl-sdk/services/voxl-qvio-server/
- https://docs.modalai.com/voxl-logger/
- https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-logger

## Reply by leonardo Andrade 0 · 2024-01-23 10:13:44 UTC (in reply to Alex Kushleyev)

@Alex-Kushleyev Thanks mate!