Navigation modules

The rc_visard’s navigation modules contain:

• Sensor dynamics (rc_dynamics)

  provides estimates of rc_visard’s dynamic state such as its pose, velocity, and acceleration. These states are transmitted as continuous data streams via the rc_dynamics interface. For this purpose, the dynamics module manages and fuses data from the following individual subcomponents:

  • Visual odometry (rc_stereovisodo)

    estimates the motion of the rc_visard device based on the motion of characteristic visual features in the left camera images.

  • Stereo INS (rc_stereo_ins)

    combines visual odometry measurements with readings from the on-board Inertial Measurement Unit (IMU) to provide accurate and high-frequency state estimates in real time.

  • SLAM (rc_slam)

    performs simultaneous localization and mapping for correcting accumulated poses. The rc_visard’s covered trajectory is offered via the REST-API interface.