Abstract
In this paper, we present hardware design and software architecture of a navigation system for quadrotor. By getting data from RGB-D camera and processing it on the onboard computer with visual simultaneous localization and mapping (SLAM) algorithm that we proposed, we can obtain real-time pose of the quadrotor and a 3D dense map of the surroundings. At the same time, we use an improved rapidly exploring random tree algorithm (RRT*) to get a safe global path with obstacle avoidance in Octomap (the map is stored in Octotree format), and using the path to perform navigation. The experimental results demonstrate the navigation and 3D SLAM capabilities of the quadrotor in our system.
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Zhang, P., Li, R., Shi, Y., He, L. (2019). Indoor Navigation for Quadrotor Using RGB-D Camera. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2018 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 529. Springer, Singapore. https://doi.org/10.1007/978-981-13-2291-4_49
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DOI: https://doi.org/10.1007/978-981-13-2291-4_49
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