Visual simultaneous localization and mapping for co-operating unmanned aerial vehicles
College
Gokongwei College of Engineering
Department/Unit
Electronics And Communications Engg
Document Type
Conference Proceeding
Source Title
21st Mechatronics and Machine Vision in Practice, M2VIP 2015
Publication Date
1-1-2015
Abstract
This paper presents a modified open-source Red Green Blue - Depth Simultaneous Localization and Mapping (RGB-D SLAM) that addresses the problem of multi-robot SLAM in unmanned aerial vehicles (UAVs). The modified RGB-D SLAM system was tested with quadrotors which were equipped with RGB-D cameras as the only sensor for solving the SLAM problem. Two quadrotors were 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 describes the implementation of a control interface where the Roll- Pitch-Yaw-Thrust (RPYT) channels of a commercially available flight controller can be controlled to achieve autonomous flight control. Height and yaw position control were also implemented. © 2015, Mechatronics and Machine Vision in Practice. All rights reserved.
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Recommended Citation
Cornejo, J. M., Mapili, L. A., Pesit, R., Young, E. N., & Magsino, E. R. (2015). Visual simultaneous localization and mapping for co-operating unmanned aerial vehicles. 21st Mechatronics and Machine Vision in Practice, M2VIP 2015 Retrieved from https://animorepository.dlsu.edu.ph/faculty_research/2075
Disciplines
Electrical and Computer Engineering | Electrical and Electronics
Keywords
Drone aircraft in remote sensing; Drone aircraft—Control systems
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