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Robust Dynamic RGB-D Localization and Mapping for UAVs

Asctec Pelican Quadrotor

   ...

 

                                  Fig 1.  The 1st Result with DJI F550 Hexcopter in ASU, USA

 The feature detection:

The Optimized Octomap: (shown in Fig.1)

Unmanned Aerial Vehicle: (DJI-F550) (More HWs shown in Appendix)

  

                    Onboard Computer: Odroid                                                   Onboard Computer: Intel NUC

                                

                                                                            Mechanical Design Demo

                                    (Note: this demo is only applied for ROS Gazebo Simulation, no commercial aims)

 

 

 

Performance Evaluation with Challenging RGB-D Datasets: (Ground Truth: VICON)
                               

                                                                               One Example

Real Flight Evaluation with Onboard IMU Data: (including 3D Mapping for Different Environments)

Note: Onboard Processing,  rostopic hz /Visual_Odometry,  > 25 Hz

"Square" Environment (with Chair, Desk, Sofa et al):

       

                                 Top View                                                                             Side View

    

 

                                                                     Flight Result 2:  "S" Flight

 

                                                                     Flight Result 3:  "O" Flight

Videos: (Total Demo Number: 8, coming soon...)

                          

                                                               Demo 1: Real-time SLAM in Corridor

                          

                                                               Demo 2: Real-time SLAM in "Square"

                    

More tests will be added soon...

 Future Work:

  • Gazebo Simulation with RGB-D SLAM  (including Path Planning)     

  • UAV Formation Flight based on RGB-D Rigs (RGB-D Sensor/Stereo Camera)

       

              

 

  Appendix:

  • RGB-D Sensors

                          

                                 Microsoft Kinect                                                              Asus Xtion Pro Live

 

  • Autopilot

                                                         

                                                                                          Pixhawk (Hz of IMU > 160)

  • Onboard Computers

                   

                                      Odroid U2                                                                       Odroid U3

                                                      

                                                                           Intel NUC i5

                       


 

Researches: