Visual simultaneous localization and mapping co-operating unmanned aerial vehicles

Visual simultaneous localization and mapping co-operating unmanned aerial vehicles

This paper presents a modified open-source RGB-D SLAM system that aims to address the problem of multi-robot SLAM. The modified RGB-D SLAM system was tested with quadrotors which are equipped with RGB-D cameras as the only sensor for solving the SLAM problem. Two quadrotors are tasked to autonomousl...

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Bibliographic Details
Main Authors: Cornejo, Juan Raphael M., Mapili, Lorenzo A., Pesit, Rigel, Young, Emmeth N.
Format: text
Language:English
Published: Animo Repository 2014
Subjects:
Drone aircraft in remote sensing
Drones
Uninhabited combat aerial vehicles
Communication
Electrical and Electronics
Online Access:https://animorepository.dlsu.edu.ph/etd_bachelors/10681
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Institution: De La Salle University
Language: English
Description
Summary:This paper presents a modified open-source RGB-D SLAM system that aims to address the problem of multi-robot SLAM. The modified RGB-D SLAM system was tested with quadrotors which are equipped with RGB-D cameras as the only sensor for solving the SLAM problem. Two quadrotors are tasked to autonomously explore an unknown indoor environment using a 2D navigation stack while still producing a 3D map using RGB-D SLAM. The paper also wishes to describe the implementation of a control interface where RPYT channels of a commercially available flight controller can be controlled to achieve autonomous flight control. Height and yaw position control were also implemented.

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