MiiViiDynamics / marmorf

MArmorF

MiiVii Mobile Armor Frame(MArmorF) is an outdoor AI robot platform. MArmorF is built with a 4WD chassis, a powerful computation unit--MiiVii Brain Apex, professional sensors like lidar and GMSL cameras and a MiiVii sensor fusion unit which provides pre-alignment for camera and lidar data.

Maximum 8 GMSL cameras could be installed on MArmorF. All of the GMSL cameras could be synchronized with lidar and IMU at microsecond precision. 2 methods of synchronization are provided:

1. All sensors' data acquisition time are recorded. For camera, it is the shutter time.
2. All cameras' shutters are triggered at the same time.

Demo Video

Compile

Please note the full software stack can only work on MiiVii Apex.

As professional hardware like gmsl cameras need private sdk, which is installed inside the Apex image.

Clone the repository and build:

    mkdir -p ~/marmorf
    cd ~/marmorf
    wstool init src
    wstool merge -t src https://raw.githubusercontent.com/MiiViiDynamics/marmorf/master/marmorf.rosinstall
    wstool update -t src
    catkin_make_isolated
    source devel_isolated/setup.bash

Synchronization Comparation

see more result here

Sensor	Jitter Compare not sync(red), MArmorF data(blue)	Sensor	Jitter Compare not sync(red), MArmorF data(blue)
IMU (need imu support)		3d Lidar
Camera

Sensor Coverage

Features

Please refer the manual for detail, some key features listed as below.

1. 3D slam with synchornized lidar and camera
2. 2D detection with camera
3. 3D fusion detection with camera, lidar fusion.
4. Navigation with obstacle aware
5. Stereo camera
6. Visual odometry
7. Gazebo simulator support

Contact

For technology issue, please file bugs on github directly. For busniess contact, you can either

1. visit our taobao shop
2. mail to bd#miivii.com