https://c4d.lias-lab.fr/index.php?action=history&feed=atom&title=WP4-22WP4-22 - Revision history2026-04-07T01:03:15ZRevision history for this page on the wikiMediaWiki 1.37.1https://c4d.lias-lab.fr/index.php?title=WP4-22&diff=1134&oldid=prevAlm: Initial text from early deliverables, will need to be updated to final level.2023-03-15T09:40:41Z<p>Initial text from early deliverables, will need to be updated to final level.</p>
<p><b>New page</b></p><div>==Shared reference frame==<br />
{|class="wikitable"<br />
| ID|| WP4-22<br />
|-<br />
| Contributor || ALMENDE<br />
|-<br />
| Levels || Platform, Function<br />
|-<br />
| Require || <br />
|-<br />
| Provide || A generic solution to describe the location of drones at relative positions from each other<br />
|-<br />
| Input || SLAM & localization tools<br />
|-<br />
| Output || A location model<br />
|-<br />
| C4D building block || <br />
|-<br />
| TRL || 4<br />
|-<br />
| Parent Building block || []<br />
|-<br />
| Contact || ludo at almende.org<br />
|}<br />
<br />
==Description==<br />
<br />
Shared reference frame definition for in-door, GPS-denied, cluttered, unknown environment. Base station needs to share it's pose/position estimate with all other drones during operation. Localization challenge, when beacons are moving in the map-frame.<br />
<br />
==Improvements==<br />
<br />
Current state-of-the-art for such reference frames: ROS Movebase's odom in map frame updates. However, sharing such a reference frame is not common yet. Especially when GPS-denied environment. (ROS is mostly aimed at using Odom/IMU/Visual/LIDAR)<br />
<br />
==Validation==</div>Alm