Computer Vision
Last updated
Last updated
techniques enable computers to use visual data to make sense of their environment.
PX4 uses computer vision systems (primarily running on ) in order to support the following features:
Pose/Velocity Estimation:
provides 2D velocity estimation (using a downward facing camera and a downward facing distance sensor).
provides 3D pose estimation using a vision system that is external to the vehicle. It is primarily used for indoor navigation.
provides 3D pose and velocity estimation using an onboard vision system and IMU. It is used for navigation when global position information is absent or unreliable.
Avoidance/Path Planning:
provides full navigation around obstacles when flying a planned path (currently missions are supported). This uses running on a companion computer.
is used to stop vehicles before they can crash into an obstacle (primarily when flying in manual modes).
guides vehicles to find (and land on) flat terrain that is free of stationary obstacles.
:::tip The (Holybro) is a robust and inexpensive kit for developers working with computer vision on PX4. It comes with no pre-installed software, but does include an example implementation of obstacle avoidance to demonstrate the capabilities of the platform. :::
- ROS + PX4 v1.9 simulation environment for computer vision. The has everything you need to get started!