https://relo02.github.io/tags/visual-odometry/Visual OdometryHugo Blox Builder (https://hugoblox.com)en-usSun, 01 Sep 2024 00:00:00 +0000https://relo02.github.io/media/icon_hu_982c5d63a71b2961.pnghttps://relo02.github.io/tags/visual-odometry/https://relo02.github.io/projects/drone-autonomy/Sun, 01 Sep 2024 00:00:00 +0000https://relo02.github.io/projects/drone-autonomy/<p>Co-developing an autonomous drone platform for <strong>GPS-denied environments</strong> with the AEA student team at Politecnico di Milano.</p> <ul> <li><strong>State estimation:</strong> an <strong>EKF</strong> fusing IMU, GPS, barometer, magnetometer, and <strong>stereo visual odometry (ORB-SLAM3)</strong> pose estimates, deployed on an <strong>NVIDIA Jetson Orin Nano</strong>.</li> <li><strong>Planning &amp; control:</strong> an <strong>MPC-based path planner (CasADi)</strong>, validated in <strong>Gazebo Harmonic</strong> with ROS 2 and deployed on <strong>Pixhawk/PX4</strong>.</li> <li>Leading the bring-up from simulation to real-world flight.</li> </ul> <p><code>C++</code> · <code>CUDA</code> · <code>Python</code> · <code>ROS 2</code> · <code>CasADi</code> · <code>PX4</code></p>