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Documentation of the MAV hardware setup used at the Vision for Robotics Lab.

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MAV hardware- and software-setup

This repository contains a description of the harware- and software-setup used at the Vision for Robotics Lab for autonomous MAV flights, see Figure 1.

Please head over to the wiki of this repository for the full description.

MAV Figure 1 MAV during fully autonomous flight.

Content

MAV Hardware
    Frame
    On-Board Computing
        Communication with the Flight Controller
        Intel NUC
        Jetson
        Example Setup
    Remote Control
    Power
        Batteries
        Power Hot-Swap
        12V Rail
        Wiring
    Sensors
    Resources
        3D Modelled Parts
        PCBs
MAV Software
    Overview
    Mavros
    QGroundControl
    Planning with ROS
        Using RTK GPS
        Using Visual-Inertial Odometry
        Sending commands to the MAV
    Useful Software

Publication

This work was presented at the 9th International Conference on 3D Vision (3DV 2021) in the demo session. If you use this repository in your academic work, please cite (PDF):

@misc{Kompis2021Fully,
  copyright = {In Copyright - Non-Commercial Use Permitted},
  year = {2021-12-02},
  author = {Kompis, Yves and Bartolomei, Luca and Chli, Margarita},
  DOI = {10.3929/ethz-b-000520507},
  title = {Fully Autonomous Live 3D Reconstruction with an MAV: Hardware- and Software-Setup},
  Note = {9th International Conference on 3D Vision (3DV 2021); Conference Location: Online; Conference Date: December 1-3, 2021; This demo was presented at the International Conference on 3D Vision (3DV) 2021}
}

Abstract

In this demo we present a versatile Micro-Aerial Vehicle (MAV) setup demonstrating fully autonomous live 3D reconstruction in real-world scenarios. With the aim of reproducability we provide key information on both the hardware- and software-setup.

Video

Fully Autonomous Live 3D Reconstruction with an MAV: Hardware- and Software-Setup 1:56 Video

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Documentation of the MAV hardware setup used at the Vision for Robotics Lab.

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