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Drones are becoming increasingly prevalent due to their affordability, agility, and size. With this increased usage it is important to account navigability in a variety of terrains. This required detailed understanding of the environment. Most 3D environment reconstruction techniques use LiDAR or RGB-D cameras. However, LiDAR is too expensive and heavy for drones and RGB-D cameras have limited a field of view. We worked on a hardware design with a fisheye camera and RGB-D camera for 3D environment construction. This paper also explores improvements to SLAM module results through trajectory alignment. The use of least-squares estimations of transformation parameters given two points is shown it improve the rotational and translation error.

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