Perception Stack

The Perception Stack provides real-time environment awareness for MAVISS, enabling mapping, localization, and autonomous navigation. It integrates sensor drivers with ROS 2 modules for LiDAR and visual-inertial odometry.

At a high level, this includes:

• LiDAR-based SLAM – using RoboSense AC1 with RSFastLivo for generating dense point clouds and performing real-time 3D mapping.

• Visual-Inertial Odometry (VIO) – combining onboard cameras and IMU data to achieve accurate state estimation, especially in GPS-denied environments.

These components are designed to work alongside the companion computer and Pixhawk, forming the basis for advanced autonomy.

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