The ATLAS node enables cooperative localization of drones in 3D space. Both self-localization and localization of other moving bodies are supported.
The localization works on the basis of fiducial markers. Hence it requires the user to provide sensor readings via a ROS topic of type MarkerData.
The ATLAS node performs sensor fusion of these readings in order to optimize the resulting orientation with respect to variance and noise.
Some examples are provided with this package (see /config and /launch).
ATLAS is released under the GPLv3.