Hey, I'm a Bachelor's student currently working on a drone project with the goal of the drone being able to autonomously explore a building (only a single floor) and find objects of interest (via 3d object detection) and would need some guidance.
Hardware:
- Jetson Xavier NX
- Velodyne VLP16 Lidar
- Intel Realsense D455
- MTI-610 high-resolution IMU
I come from the software engineering field and don't have much experience with ROS yet. I tried 2d SLAM and navigation using a Turtlebot and it worked fine. Furthermore, I have managed to get the data from all the above-mentioned sensors (Lidar, Depth Camera and IMU) both with the real hardware and in simulation (PX4 simulation with Gazebo).
I'm currently a bit overwhelmed while trying to implement 3d SLAM and autonomous exploration as there are a lot of SLAM tools and libraries but I'm not sure how they fit into the bigger picture with navigation and exploration and would appreciate some pointers in the right direction.
Any help would be greatly appreciated.