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

Print

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

Embargo Period

1-6-2022

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