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2017 | OriginalPaper | Buchkapitel

Visual SLAM with a RGB-D Camera on a Quadrotor UAV Using on-Board Processing

verfasst von : Wilbert G. Aguilar, Guillermo A. Rodríguez, Leandro Álvarez, Sebastián Sandoval, Fernando Quisaguano, Alex Limaico

Erschienen in: Advances in Computational Intelligence

Verlag: Springer International Publishing

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Abstract

In this article, we present a high accuracy system for real-time localization and mapping using a RGB-D camera. With the use the RGB-D sensor Microsoft Kinect and the small and powerful computer Intel Stick Core M3 Processor, our system can run the computation and sensing required for SLAM on-board the UAV, removing the dependence on unreliable wireless communication. We use visual odometry, loop closure and graph optimization to achieve this purpose. Our approach is able to perform accurate and efficient on-board SLAM by analyzing data and maps generated on several tests of the system.

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Vorheriges Kapitel RRT* GL Based Optimal Path Planning for Real-Time Navigation of UAVs

Nächstes Kapitel An End-User Interface to Generate Homeostatic Behavior for NAO Robot in Robot-Assisted Social Therapies

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Titel: Visual SLAM with a RGB-D Camera on a Quadrotor UAV Using on-Board Processing
verfasst von: Wilbert G. Aguilar
Guillermo A. Rodríguez
Leandro Álvarez
Sebastián Sandoval
Fernando Quisaguano
Alex Limaico
Verlag: Springer International Publishing
Buch: Advances in Computational Intelligence
Print ISBN: 978-3-319-59146-9

Electronic ISBN: 978-3-319-59147-6

Copyright-Jahr: 2017
DOI: https://doi.org/10.1007/978-3-319-59147-6_51

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