Leveraging GPU-accelerated Stereo Visual Inertial Odometry in PX4 Using ROS2 – Andrew Brahim

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Leveraging GPU-accelerated Stereo Visual Inertial Odometry in PX4 Using ROS2 – Andrew Brahim, Ascend Engineering

This quick tutorial walks through the camera calibration/configuration, uxrce dds service, Isaac ROS setup, and PX4 parameters required to fuse stereo VIO in EKF2. The platform is a quadcopter with an Ark Jetson computer.