helipad_det

The aim of this ROS package is to provide detection and pose estimation of an H-shaped helipad for the purpose of landing a UAV. The approach is based on this paper. It provides robust and accurate detection of the helipad from different angles and orientations.

Dependencies

This package has the following dependencies:

• OpenCV (3.0 or higher)

• Eigen

• GeographicLib

• img_proc

• ROS Kinetic (stable, tested) with the following packages:

  • catkin
  • catkin_simple
  • roscpp
  • usb_cam (for obtaining images from a camera connected via USB)
  • cmake_modules
  • message_generation (for creating and using custom messages)
  • std_msgs
  • sensor_msgs
  • nav_msgs
  • geometry_msgs
  • eigen_conversions (Eigen compatibility with ROS)
  • cv_bridge (OpenCV compatibility with ROS)
  • image_transport
  • tf

Installation

Create a catkin workspace(ignore this if you have already done this)

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin config -DCMAKE_BUILD_TYPE=Release
catkin init

Clone the repository into the source folder.

cd ~/catkin_ws/src
git clone https://github.com/AerialRobotics-IITK/helipad_det.git

Build using either (preferably) catkin build helipad_det or catkin_make after ensuring all dependencies are met.

Nodes

-hdetect : Detects the 'H' marker and calculates its location in ground truth

Topics

Topics can be remapped to suit your use case using the remap tags in the hdetect.launch file.

hdetect node

• Subscribed
  • /camera/color/image_raw
  • /Odometry
• Published
  • /helipad_position
  • /preprocessed_image
  • /detected_helipad