ZhiangChen / augmented_mapping

UAV System for Mapping Precariously Balanced Rocks (PBRs)

Package Overview

This project aims to develop a UAV system capable of approaching, detecting, identifying, and mapping Precariously Balanced Rocks (PBRs) using advanced exploration algorithms. The mapping process is divided into three main stages:

1. Approach Stage: The UAV plans and follows a path to the PBR using the Fast Planner algorithm.
2. Detection and Identification Stage: The UAV detects rocks using YOLOv8 and identifies the target PBR with a recognition algorithm.
3. Mapping Stage: The UAV maps the identified PBR using the FUEL exploration algorithm and RTAB-Map.

Dependencies

Packages and Docker Containers

• Fast Planner: Path planning algorithm.
• YOLOv8: Object detection algorithm.
• FUEL: Fast UAV Exploration Algorithm.
• RTAB-Map: Simultaneous localization and mapping library.

Docker Containers

• ROS Noetic: Used for running ROS1 packages.
• ROS2 Humble: Used for running ROS2 packages.

Installation

Prerequisites

• Docker and Docker Compose installed on your system.

Clone the Repository

git clone https://github.com/ZhiangChen/augmented_mapping.git