ORB-SLAM2 Fixed wing with initial scale alignment
Data taken from a fixed wing aircraft with 1 mega pixel nadir camera, capturing frames at ~5Hz. Shortly after the rail launch the aircraft was under autopilot control (first left banking turn). At the end of the loiter segment the aircraft was at ~500m AGL and maintains this altitude for the remainder of the flight.
As the camera is observing a planar scene from altitude, the depth information available to the ORB-SLAM2 algorithm is quite poor.
Towards the end of the video, loop closure is demonstrated along with a vision system initialisation at altitude (observing a planar scene).
The roll, pitch, yaw and NED estimate from the autopilot (Pixhawk running a modified version of ArduPlane 3.5) has been rotated, translated and scaled into the vision system world coordinates and is visible in red. The green pose is the ORB-SLAM2 camera pose estimate. The autopilot is not aiding the visual estimate in this video.
Note: This is running super real-time
ORB-SLAM2 code is available here: https://github.com/raulmur/ORB_SLAM2