# GPS and vision for outdoor pose estimation

**URL:** <https://discuss.px4.io/t/gps-and-vision-for-outdoor-pose-estimation/11362>\
**Category:** QGroundControl\
**Created:** [June 11, 2019, 7:20am UTC](https://discuss.px4.io/t/gps-and-vision-for-outdoor-pose-estimation/11362 "2019-06-11T07:20:37Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![acpl00](https://discuss.px4.io/letter_avatar_proxy/v4/letter/a/9dc877/32.png) [@acpl00](https://discuss.px4.io/u/acpl00)\
**Post date:** [June 11, 2019, 7:20am UTC](https://discuss.px4.io/t/gps-and-vision-for-outdoor-pose-estimation/11362/1 "2019-06-11T07:20:37Z")

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Dear people

I do have the following setup.

```auto
-PixHawk 4 mini
-PX4FLOW V2.3
-ZED stereo camera
-Jetson TX2
-GPS

```

The communication from the companion board (Jetson TX2) to the groundcontrol station is via wireless.

I have been using the GPS for outdoor flight, however the ZED camera odom position estimate would be like to be use with the GPS to have a better position estimation during the flight and to be used in GPS denied environments.

The following things were done.

- A topic remapping under `mavros_node` which is in `node.launch` was made.  
`<remap from="mavros/vision_pose/pose" to="/tbsd_zed/pose">`

- I have set the following parameters under `QgroundControl` station

However when I take a look at the Mavlink Inspector, I do not see any vision data.

What I am doing wrong??

Any help and advise I really appreciate it 🙂 thank you 🙂

---

<div class="post-metadata">

**Author:** ![subarashi](https://discuss.px4.io/user_avatar/discuss.px4.io/subarashi/32/6769_2.png) [@subarashi](https://discuss.px4.io/u/subarashi)\
**Post date:** [January 23, 2023, 12:14pm UTC](https://discuss.px4.io/t/gps-and-vision-for-outdoor-pose-estimation/11362/2 "2023-01-23T12:14:21Z")

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Did you solve this issue? I am facing something similar.