Commertials drones uses GPS to navigate which is prone to low accuracy and also do not work Indoor, this project will guide how to fuse Intel realsense T265 /tf ROS topic to px4's /odometry/in topic. Further we will use depth pointcloud information to avoid from Intel Realsense D435 to avoid indoor obstacles during navigation. This could be used in excavation sites for mapping an indoor, warehouse management, disaster management like earthquake and etc.
- Use Intel T265 to replace GPS on drone to LPS(Local Positioning System).
- Avoid obstacle using D435 during navigation.
- Map the environment for later use.