I have been posting the tutorial series How to Build an Autonomous Drone here. So far, I have gone over concepts from OFFBOARD Control and Gazebo Simulation to Using SLAM in GPS Denied Environment for Position Estimation. This time, I will do a case study that uses knowledge from the previous tutorials to inspect an aircraft in AirSim Simulator.The case study is based on a real project that is on-going in the GAAS team. Since 2017, Airbus has been using drones to help maintenance technicians to inspect the top of aircraft. In this case study, we will be using SLAM depth estimation to allow drones to inspect aircraft in GPS denied indoor storage place.Left: flight track recorded by SLAM Right: Simulation in AirSimIf this is your first time attempting this tutorial series, please start from the very beginning so you have all the right dependencies.Download the framework at this GitHub repoEpisode 1: OFFBOARD mode and Gazebo simulationEpisode 2: Build a 3D Model with Your DroneEpisode 3: Using SLAM In GPS Denied Environment For Position EstimationEpisode 4: Depth Estimation, Octomap and Path PlanningEpisode 5: Vision-Based Auto-LandingEpisode 6: Basic Object TrackingEverything I used is based on this GitHub project GAAS, which I built from scratch. I meant to provide an open source framework for autonomous drone development. Give me a star on GitHub if you find this helpful :)If you have any questions, feel free to ask in our Github, Facebook Group, Discord, Slack, Twitter via /r/drones https://ift.tt/2MGjwCz
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