fiducial_slam

Simultaneous localization and mapping using fidusial markers as features.

Example 1: All fiducials are located in the same plane

demo_1.mp4

Example 2: Fiducial markers are located with different position and orientation in space.

demo_2.mp4

Usage of multiple cameras

Multiple camera source can be used for pose estimation

Multi-camera navigation can only be used if the field of view of the cameras does not overlap!!!

Try samples

Before start edit configs:

1) config/cameraConfigs/<your_camera>.yaml (add intrinsic params, pose in body frame)

2) config/fiducialBoards/<your_map>.yaml (add basis fidusial marker add size)

3) config/fiducialDetectorConfigs/<your_dict>.yaml (use of marker dictionaris setup)

4) config/navigation_system_config.yaml (add path to other files common system setup)

Build

1. mkdir build

2. cd build

3. cmake ..

4. make -j4