ROS packages for vision-based MAVs.
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calibration Fixed point triangulation bug in self-calibration. May 11, 2015
camera_models Fixed bugs in self-calibration method for case of m stereo cameras + … Nov 25, 2014
camera_systems Fixed bugs in self-calibration method for case of m stereo cameras + … Nov 25, 2014
cauldron Added scale field to Transform class. Nov 24, 2014
dense_mapping Fixed Eigen alignment bug in dynocmap. Oct 13, 2014
middleware/dds_ros Made FindRTI.cmake compatible wih RTI Connext DDS 5.1.0. May 9, 2014
motion_estimation Fixed bugs in self-calibration method for case of m stereo cameras + … Nov 25, 2014
pose_estimation Maintain compatibility with ROS Indigo. May 9, 2014
slam Fixed bug related to multi-camera system instance containing no child… Apr 8, 2015
thirdparty Fixed header-related compilation issues. May 9, 2014
.gitignore Initial commit May 6, 2014 Update Jul 30, 2014


ROS packages for vision-based MAVs.

Required dependencies:

  1. px-ros-pkg
  2. ethzasl_sensor_fusion (branch: catkin)
  3. asctec_mav_framework (branch: experimental)
  4. Boost >= 1.4.0 (Ubuntu package: libboost-all-dev)
  5. Eigen3 (Ubuntu package: libeigen3-dev)
  6. gflags (Ubuntu package: libgflags-dev)
  7. glog (Source install)
  8. OpenCV >= 2.4.8
  9. SuiteSparse >= 4.2.1 (Source install)
  10. RTI Connext DDS >= 5.1.0 (Source install to /opt)

If you use the packages for an academic publication, please cite either or both of the following papers depending on which packages you use:

Lionel Heng, Gim Hee Lee, and Marc Pollefeys,
Self-Calibration and Visual SLAM with a Multi-Camera System on a Micro Aerial Vehicle,
In Proc. Robotics: Science and Systems (RSS), 2014.

Lionel Heng, Dominik Honegger, Gim Hee Lee, Lorenz Meier,
Petri Tanskanen, Friedrich Fraundorfer, and Marc Pollefeys,
Autonomous Visual Mapping and Exploration With a Micro Aerial Vehicle,
Journal of Field Robotics (JFR), 31(4):654-675, 2014.

Hardware Synchronization Between Sensors

For hardware synchronization between the IMU on any AscTec platform and a single/multi-camera system, perform the following steps:

  1. Connect a cable between the GPIO pins on the autopilot (ground pin: GND, trigger signal pin: P1.16) and the correct pins on the camera hardware. The GPIO pins on the autopilot are shown in
  2. Compile the autopilot firmware from Note that this firmware differs from the official ethz-asl version, as the firmware is modified to support camera triggering.
  3. Flash the autopilot firmware by following the instructions in
  4. Now you can adjust the camera trigger rate by modifying the value for the trigger_rate_cam parameter that is used by the asctec_hl_interface package.
  5. Each time the autopilot sends a trigger signal to the camera(s), the autopilot records the IMU data at that point of time. The asctec_hl_interface package publishes both a CamTrigger message and sensor_msgs::Imu message. Information in these messages can be used to infer which IMU message corresponds to a given camera image.


The primary author, Lionel Heng, is funded by the DSO Postgraduate Scholarship. This work is partially supported by the SNSF V-MAV grant (DACH framework).

The repository includes third-party code from the following sources:

1. M. Rufli, D. Scaramuzza, and R. Siegwart,
   Automatic Detection of Checkerboards on Blurred and Distorted Images,
   In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008.

2. Sameer Agarwal, Keir Mierle, and Others,
   Ceres Solver.
3. D. Galvez-Lopez, and J. Tardos,
   Bags of Binary Words for Fast Place Recognition in Image Sequences,
   IEEE Transactions on Robotics, 28(5):1188-1197, October 2012.

4. L. Kneip, D. Scaramuzza, and R. Siegwart,
   A Novel Parametrization of the Perspective-Three-Point Problem for a
   Direct Computation of Absolute Camera Position and Orientation,
   In Proc. IEEE Conference on Computer Vision and Pattern Recognition, 2011.

5. pugixml

6. E. Olson,
   AprilTag: A robust and flexible visual fiducial system,
   In Proc. IEEE International Conference on Robotics and Automation, 2011.