relative_nav
A RGB-D vision-based, GPS-denied navigation and control architecture for a rotorcraft platform. Written in C++ and ROS. The original code was written for ROS Fuerte in 2013 and efforts are currently being made to update this original branch to a more recent/relevant ROS distribution.
The original code, written by Robert Leishman, is in the Public Domain. This work was completed by Robert Leishman while performing official duties as a federal government employee with the Air Force Research Laboratory and is therefore in the public domain (see 17 USC § 105). Public domain software can be used by anyone for any purpose, and cannot be released under a copyright license.
However, all software in the Master Branch was not written by Robert Leishman and does come with copyrights. Copyrighted software (and associated copyright information) is found in the following nodes/folders: cereal_port, control_toolbox, mikro_serial, and microstrain_3dmgx2_imu. The rest of the software is public domain.
All of the code written by Robert Leishman includes doxygen comments and documentation can be built using that tool. For more information on that see: http://www.stack.nl/~dimitri/doxygen/
Several technical papers that describe the development:
R. C. Leishman, T. W. Mclain, and R. W. Beard, “Relative Navigation Approach for Vision-Based Aerial GPS-denied Navigation,” J. Intell. Robot. Syst., vol. 74, no. 1, pp. 97–111, 2014.
R. C. Leishman, T. W. McLain, and R. W. Beard, “Relative Navigation Approach for Vision-Based Aerial GPS-Denied Navigation,” in Intl. Conference on Unmanned Aircraft Systems, 2013, pp. 343–352.
R. C. Leishman and T. W. McLain, “A Multiplicative Extended Kalman Filter for Relative Rotorcraft Navigation,” J. Aerosp. Inf. Syst., 2015.
Dissertation: (which provides information in the papers above as well as some additional details, such as expanded derivations) R. C. Leishman, “A Vision-based Relative Navigation Approach for Autonomous Multirotor Aircraft,” Brigham Young University, 2013. Available online (free): http://scholarsarchive.byu.edu/etd/3784/