An open-source pose estimation system for micro-air vehicles

摘要: This paper presents the implementation of an open-source 6-DoF pose estimation system for micro-air vehicles and considers future implications benefits robotics. The is designed to provide high frequency estimates in unknown, GPS-denied indoor environments. It requires a minimal set sensors including planar laser range-finder IMU sensor. code optimized run entirely onboard, so no wireless link ground station are explicitly needed. A major focus our work modularity, allowing each component be benchmarked individually, or swapped out different implementation, without change rest system. We demonstrate how can used 2D SLAM 3D mapping experiments. All software hardware which we have developed, as well extensive documentation test data, available online.