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Published in:
2012 | OriginalPaper | Chapter
Indoor Three-Dimensional Environment Detection for Aerial Robots
Authors : Hongtao Zhang, Longqiu Li, Lin Wang, Guangyu Zhang
Published in: Recent Advances in Computer Science and Information Engineering
Publisher: Springer Berlin Heidelberg
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Indoor autonomous flight of aerial robots is a hot research field in recent years. This paper describes the system architecture and core algorithms for a quadrotor aerial robot, which uses linear structured light to detect unstructured and unknown indoor environments. A model of linear structured light measurement system is built. The measuring principle, the parameters calibration method and the coordinate transformation algorithms are presented. The experiments are performed and the three-dimensional point-cloud map of the experimental environment is determined. It is found that the errors of the experiments for this system are acceptable for environment detection.