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Stereo Visual Odometry (VO) and Visual Inertial Odometry (VIO) with an Error-State Extended Kalman Filter in a quad-rotor

This repository is intended to provide a complete VO and VIO pipelines for a quad-rotor.

Description

The system works by taking subsequent image pairs and matching features throughout the test. Once those features are obtained, 3d-points coordinates were retrieved with the depth map of the images and the extrinsic camera calibration matrix. Finally, the trajectory is estimated using 3D-2D Perspective-n-Point (PNP). As an additional step, the VO trajectory was used with the IMU data in an Error-State Extended Kalman Filter to estimate the pose even when most of the VO observations were dropped.

All the flying samples were taken from a Gazebo-based simulation with a DJI F450 model. From each flying test Grayscale, RGB and depth maps were obtained at 5 FPS. Additionally, the IMU data is provided to allow the use of the Error-State Extended Kalman Filter for Visual Intertial Odometry. Ground truth data is given to assess the performance of the pipeline.

This repository contains four python files which are:

  1. VO.ipynb
  2. rotations.py
  3. dataset_handler.py
  4. vis_tools.py

The file rotations.py is a class to handle rotations (quaternions) in a comprehensive way. Similarly, dataset_handler.py store the images in lists and synchronize time-stamps with the IMU data for sensor fusion. Finally, vis_tools.py contains all the methods related with plotting and visualization.

VO.ipynb has the whole implementation of the VO and VIO pipelines besides the concepts needed to implement this system. Furthermore, the bibliographic resources are given there.

Below is given a set of images stores in the flying test. From left to right, Grayscale image, RGB image and Depth map for the same time-stamp.

Note: Only one flying test is provided owing to the size (around 5GB) of the files. If you want to download this repository please be patient.

Requirements

The following list provides the minimum requirements to run the project.

matplotlib >= 3.0.3
cv2 >= 3.4.0
numpy >= 1.16.2
pandas >= 0.23.0

Usage

To run the system, just use Jupyter Notebook and run the cells.

jupyter-notebook

The content of the Notebook is arranged as follows:

  • Loading dataframes
  • 3D Geometry and reference frames
  • Loading the dataset
  • Visual odometry and results
  • Visual inertial odometry and results
  • Dropping VO observations to assess robustness of ESKF

Results

The next animations and images present the results of the system over a complex trajectory. The animations presented are: VO with all observations, VIO with all observations, VO with only the 15% of the total observations, VIO with only the 15% of the total observations.

Additionally, the following plots show how VIO techniques are capable to accurately estimate the position of the quad-rotor throughout the trajectory.