RGB-D SLAM based on quadrotor platform

• Main Author: Zhou, Caijie
• Other Authors: Hu Guoqiang
• Format: Thesis-Master by Coursework
• Language: English
• Published: Nanyang Technological University 2022
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: https://hdl.handle.net/10356/158698
• Institution: Nanyang Technological University

This thesis takes the UAV-based RGB-D SLAM system as the object to deeply study and improve the existing visual-SLAM method VINS, and construct a real-time RGB-D SLAM system based on quadrotor flight. It demonstrates an efficient and robust RGB-D SLAM system, which fuses RGB-D camera and IMU measure...