VIO Algorithms
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Good Morning guys,
I would like to know how could I test my own VIO algorithms on sentinel drone.
Best Regards!
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Good Morning guys,
I would like to know how could I test my own VIO algorithms on sentinel drone.
Best Regards!
@leonardo-Andrade-0 , you should take a look at the software architecture diagram here :
Modal Pipe Architecture
ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA
ModalAI Technical Docs (docs.modalai.com)
look for a process called
voxl-qvio-serverin the diagram. It receives camera images (fromvoxl-camera-server) and IMU data (fromvoxl-imu-server)You can create your own process that subscribes to camera and imu data similarly to
voxl-qvio-serverand 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:
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@leonardo-Andrade-0 , you should take a look at the software architecture diagram here :
Modal Pipe Architecture
ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA
ModalAI Technical Docs (docs.modalai.com)
look for a process called
voxl-qvio-serverin the diagram. It receives camera images (fromvoxl-camera-server) and IMU data (fromvoxl-imu-server)You can create your own process that subscribes to camera and imu data similarly to
voxl-qvio-serverand 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:
@Alex-Kushleyev Thanks mate!
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