Otto Seiskari

CEO @ Spectacular AI

[Otto Seiskari @oseiskar]

First demo of our new aerial Visual-Inertial Positioning System (VIO+VPS): 40m positioning accuracy (CEP) in a 50 kilometer flight using a camera, consumer-grade IMU and a barometer! No GPS

[Otto Seiskari @oseiskar]

Spectacular AI flight testing in winter conditions: -13 °C (8.6 °F), low altitude, full snow cover. No significant issues. GPS-free autonomous closed-loop navigation powered by VIO.

[Yu Xiang @YuXiang_IRVL]

I am really impressed by how easy Spectacular AI makes visual-inertial odometry with an OAK camera.

Just "pip install spectacularAI" and run a Python script. Running VIO/SLAM used to be much harder in my opinion.

[Otto Seiskari @oseiskar]

For inquiries, https://t.co/yb3leB254C

[Otto Seiskari @oseiskar]

Spectacular AI visual-inertial navigation module prototype. Plugs directly into Pixhawk and runs VIO+VPS in real-time. R-Pi CM4 and low-cost commodity components only. 110 grams, 64 x 64 x 70 mm. Closed-loop demo.

[Otto Seiskari @oseiskar]

More technical details in description of the YouTube video https://t.co/11c3xJAKhv

[Otto Seiskari @oseiskar]

SW and HW guide available in selected countries with a commercial license: https://t.co/yb3leB2CUa

[Otto Seiskari @oseiskar]

Low-cost autonomous GPS-free navigation (closed-loop): Pixhawk mission flight mode with Spectacular AI
VIO as “fake GPS”, running real-time on #raspberrypi CM 4. Extra sensor & compute weight < 100g

[Otto Seiskari @oseiskar]

Accidental #GaussianSplatting video art from incorrect #FFmpeg alpha compositing commands (I eventually found the correct ones too)

[Otto Seiskari @oseiskar]

@itsolelehmann How do you mean "ignores"? GDPR bans Google Analytics -like ad-surveillance independent of the tracking technology and it's not specific to cookies. No EU country just has the guts to enforce it properly (like confiscating Google's/Meta's ad revenue) and the result is this mess

[Otto Seiskari @oseiskar]

@ccallac7 @ThePunkHucker Yes. The implementation supports that. It does not have to be a complete tree. The essence of the method is that only the non-empty max. depth leaf nodes are stored in the array, but the contents of any "virtual" node at any level can be queried using binary search.

[Otto Seiskari @oseiskar]

@ccallac7 @ThePunkHucker There are other funky representations as well. I have one here https://t.co/XTKR44FFu8 - You can constuct an octree by sorting a flat array of Morton/Z-order codes (e.g. 64-bit code per item). No node structs, no pointers, no fragmentation. Fast

[Otto Seiskari @oseiskar]

@behnam_iut @FFmpeg Not for the monocular system if we do not need to calibrate the IMU-cam extrinsics

[Otto Seiskari @oseiskar]

Easiest way to calibrate a camera on Linux. No ROS, no Docker, no CMake. Just @FFmpeg and Spectacular AI command line tool installable via Python pip:

sudo apt install ffmpeg
pip install spectacularAI[full]
sai-cli calibrate your-data.mkv

[Otto Seiskari @oseiskar]

@Marc_Compere This particular IMU-cam system is used in our internal VIO and VPS test data collection and demonstrations (similar to this one https://t.co/avOpQ5VyTu )

[Otto Seiskari @oseiskar]

As an extra bonus, "sai-cli calibrate" also work on Windows. See here for more info https://t.co/CdFH48kKDh

[Otto Seiskari @oseiskar]

More info:
⭐Documentation: https://t.co/CdFH48kKDh
⭐ IMU-camera calibration tutorial on YouTube: https://t.co/KvFD4KmDXS

The tool is based on our fork of Basalt

[Otto Seiskari @oseiskar]

@907tothe703 Good question. This solution is not suitable for marine navigation, since VIO does not work at sea. Combining IMU / INS with star trackers probably works in the marine context, but it's not the same thing as this method

[Otto Seiskari @oseiskar]

GPS-free visual-inertial navigation in real time on Raspberry Pi 5 with a consumer-grade IMU and camera (and this is not even the slowest CPU this runs on!)

[Otto Seiskari @oseiskar]

@BradBitler Yes, this can be integrated into ArduPilot, PX4 or other flight controller, but there are a extra hoops that you have to jump through compared to a using a GPS module. We offer commercial support for that kind of integration projects.

[Otto Seiskari @oseiskar]

@NickParkerPrint This demo used a 100 x 100 km² map, which easily fits into an SD card (a 1 km x 1000 km map would take practically the same space). The ballpark size is "gigabytes" and is adjustable with a few settings that allow balancing between CPU, disk and accuracy.