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LIDAR only autonomous flight

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Xu Liu edited this page Jul 23, 2022 · 7 revisions

Our code stack also supports LIDAR-only sensing mode (i.e. no camera is needed).

This feature is still under development. It works but is not as robust / well tuned.

The LIDAR will be used for both odometry and mapping (obstacle avoidance). We have done some initial tests for autonomous flight with LLOL: Low-Latency Odometry for Spinning Lidars, and check out to this commit: 6fafc5d872d99f34ca30de39b6885d2bb880797c. Currently, we're using the feature/lidar-odom branch for developing this feature:

https://github.com/KumarRobotics/kr_autonomous_flight/tree/feature/lidar-odom

kr_autonomous_flight

  1. Build and Install:
  1. Simulation Experiments:
  1. Real-world Experiments:
  1. Supported features:
  1. Customize configurations:
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