Opencv Spatial AI 2021 submission for Autonomous Navigation with the OAKD camera

Repository summarizing all code repositories used for our submission to the OpenCV Spatial AI 2021 competition

Project name

Autonomous navigation with RGB-D data for search and rescue operations using a ground robot in confined environments

Team Name

Guará Wolves FTW (For the Win)

Code sources

Our source code is freely available on GitHub. The links to the different code repositories are depicted below:

• Docker container with ROS and our integration of the OAK-D:
  • https://github.com/h3ct0r/docker_oakd_ros
• Our integration of ROS with the OAK-D (our camera driver):
  • https://github.com/h3ct0r/oakd_pcloud
• Mesh path planner integrated with ROS:
  • https://github.com/ITVRoC/espeleo_planner
• Mesh reconstruction integrated with ROS:
  • https://github.com/ITVRoC/espeleo_planner/tree/master/recon_surface
• RTAB-Map OAK-D integration (compatible with the docker_oakd_ros container):
  • https://github.com/rafaelfgs/oak_rtabmap

Video demonstration

A video of the results of this project can be acessed in https://youtu.be/2sJpyIe-XZY