Discussions

So I have come to own an Intel Realsense R200 RGBD sensor. My current quad build is using a RasPi 3 as a companion computer collaborating with a Pixhawk (along with a small Arduino for low level hardware control), for navigation and collision avoidance.

Right now I am utilizing Sonar, RasPi cam, PX4Flow, and LidarLite, for indoor navigation and collision avoidance (CO). 

I would like to integrate the R200 RGBD sensor to aid (or replace) in nav and CO for indoors or Forrest like (GPS denied) environments.

The RasPi 3 first off does not have a USB3 port, and second I dont think has the processing power to handle the data the R200 will be providing.

I have used Kinect like sensors for CO and SLAM on ground robots, and am familiar with the techniques used for that. I would like to utilize the R200 on my quad for the same purposes.

Right now i want to maintain the use of a quadcopter vs hexa or octa, since quads are typically smaller and at least with my F450 based build is capable (in theory) of maneuvering through a typical doorway. But that of course limits my payload. Im not sure something like a Jetson TX1 (with a small carrier board) will be possible to power on my F450 based build for anything more than a few minutes of flight time. So that's an extra constraint.

Could someone recommend a companion embedded Linux machine that would have a USB3 port along with at least 2 to 3 times the processing power of the RasPi 3?

Thanks for any advice.

-Ryan