Visual simultaneous localization and mapping co-operating unmanned aerial vehicles
Date of Publication
2014
Document Type
Bachelor's Thesis
Degree Name
Bachelor of Science in Electronics and Communications Engineering
Subject Categories
Communication | Electrical and Electronics
College
Gokongwei College of Engineering
Department/Unit
Electronics and Communications Engineering
Thesis Adviser
Elmer R. Magsino
Defense Panel Chair
Argel A. Bandala
Defense Panel Member
Carlo Noel E. Ochotorena
Jay Robert B. Del Rosario
Abstract/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.
Abstract Format
html
Language
English
Format
Accession Number
TU18757
Shelf Location
Archives, The Learning Commons, 12F, Henry Sy Sr. Hall
Physical Description
xvii, 158 leaves : illustrations (some colored) ; 28 cm.
Keywords
Drone aircraft in remote sensing; Drones; Uninhabited combat aerial vehicles
Recommended Citation
Cornejo, J. M., Mapili, L. A., Pesit, R., & Young, E. N. (2014). Visual simultaneous localization and mapping co-operating unmanned aerial vehicles. Retrieved from https://animorepository.dlsu.edu.ph/etd_bachelors/10681
Embargo Period
1-6-2022