3D MAPPING USING RGB-D CAMERA ON QUADROTOR

The problem of generating the map of an unknown environment is of great significance within the tnodern field of robotics in recent years. RGB-D cameras which provide both color images and per-pixel depth estimates, have been popular for mapping in robotic applications. In contrast to conventional RGB-D devices that are both expensive and comparably heavy, Microsoft Kinect is light-weight and especially low cost. In this paper we describe the implementation of a [lying platform for Simultaneous Localization and Mapping (SLAM), using Microsoft Kinect sensor. Kinect is installed on a quadrotor flying robot to generate a 3D map of an unknown indoor environment. Additional to map generation. this system could be used in autonomously navigation of drones especially in GPS denied environments. Robot operating system (ROS) which is a popular and efficient middlcware for operating robots is used to process Kinect data. Experimental results show good performance for the SLAM algorithm used in this research.

Keywords:

Quadrotor: 3D SLAM , Kinec: ROS