Hello,
I am contacting in the hope to gathering some information regarding the software compatible with Qualcomm's product QRB5165M.
Background Information:
1) I am using a VOXL 2 Flight Deck QRB5165M(https://www.modalai.com/products/voxl-2-flight-deck?variant=40503626039347) on a Sentinel dev drone (https://docs.modalai.com/sentinel-quickstart/);
2) I am using stereo cameras to build 3D a map of the environment and a tracking camera to perform VIO;
The problem I am having:
I am doing some pre-flight checks with the drone to check how the localization works in the voxl-mapper. I noticed that the drone is not able to relocalize itself within a loaded map that I did earlier. What I did is the following
- I switched on the drone in a specific position and I moved it around to build a 3D map using the stereo input;
- When I was satisfied with the map I saved it and I switched off the drone;
- I moved the drone to another point and I switched it on;
- I loaded the 3D map that I made in the previous powercycle and I moved around the drone to see whether it was able to relocalize itself in the map or not.
Despite the map was updating while I was moving around, the drone was not relocalizing itself and it ended up creating a "false" map of the environment.
What I would like to achieve is to make the drone relocalize itself within a map without booting up at the exact same position in which the drone was switched on at the time of the creation of the map. Hence, I want the drone to be able to relocalize within a map with respect to the map's origin. Are there any libraries compatible with VOXL2 that can provide this feature?
Thank you in advance for your response!
I noticed you are using VIO instead of vSLAM. VIO only tracks the posisiton and does not re-localization in the map. If you want to relocalization, you should try some vSLAM solution.
Yes, indeed my question was if there are any available open-source vSLAM solutions that are compatible with the devkit that I described above and tha can be integrated in voxl's pipeline without too much effort.