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Robot 2015: Second Iberian Robotics Conference pp 531–542Cite as

Indoor SLAM for Micro Aerial Vehicles Using Visual and Laser Sensor Fusion

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 417))

Abstract

This paper represents research in progress in Simultaneous Localization and Mapping (SLAM) for Micro Aerial Vehicles (MAVs) in the context of rescue and/or recognition navigation tasks in indoor environments. In this kind of applications, the MAV must rely on its own onboard sensors to autonomously navigate in unknown, hostile and GPS denied environments, such as ruined or semi-demolished buildings. This article aims to investigate a new SLAM technique that fuses laser and visual information, besides measurements from the inertial unit, to robustly obtain the 6DOF pose estimation of a MAV within a local map of the environment. Laser is used to obtain a local 2D map and a footprint estimation of the MAV position, while a monocular visual SLAM algorithm enlarges the pose estimation through an Extended Kalman Filter (EKF). The system consists of a commercial drone and a remote control unit to computationally afford the SLAM algorithms using a distributed node system based on ROS (Robot Operating System). Some experimental results show how sensor fusion improves the position estimation and the obtained map under different test conditions.

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Author information

Authors and Affiliations

  1. Department of Electronics, Alcalá University, Alcalá, Spain

    Elena López, Rafael Barea, Alejandro Gómez, Álvaro Saltos, Luis M. Bergasa & Eduardo J. Molinos

  2. Ecole Militaire Polytechnique, Algiers, Algeria

    Abdelkrim Nemra

Authors
  1. Elena López
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  2. Rafael Barea
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  3. Alejandro Gómez
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  4. Álvaro Saltos
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  5. Luis M. Bergasa
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  6. Eduardo J. Molinos
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  7. Abdelkrim Nemra
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Corresponding author

Correspondence to Elena López .

Editor information

Editors and Affiliations

  1. Info Syst Dept;Campus de Azurém, University of Minho, Guimarães, Portugal

    Luís Paulo Reis

  2. Electrical and Computer Engineering Dept, University of Porto, Porto, Portugal

    António Paulo Moreira

  3. Instituto Superior Tecnico - Torre Norte, University of Lisboa, Lisboa, Portugal

    Pedro U. Lima

  4. Engineering Dept., E. Ada Byron, Univ of Zaragoza, Computer & Systems, Zaragoza, Spain

    Luis Montano

  5. Automatic Control and Systems Eng. Dept., University of Malaga, Superior Technical, Málaga, Spain

    Victor Muñoz-Martinez

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© 2016 Springer International Publishing Switzerland

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López, E. et al. (2016). Indoor SLAM for Micro Aerial Vehicles Using Visual and Laser Sensor Fusion. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_41

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  • DOI: https://doi.org/10.1007/978-3-319-27146-0_41

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27145-3

  • Online ISBN: 978-3-319-27146-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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