Published November 14, 2022
| Version v1
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Microdrone-Based Indoor Mapping with Graph SLAM
Creators
- 1. PostDoc researcher at the University of Twente, ITC faculty, Netherlands
- 2. professor at the University of Twente, ITC faculty, Netherlands
Description
In this article, we present a low-cost SLAM-based drone for creating exploration maps of building interiors. The focus is on emergency response mapping in inaccessible or potentially dangerous places. For this purpose, we used a quadcopter microdrone equipped with six laser rangefinders (1D scanners) and an optical sensor for mapping and positioning. The employed SLAM is designed to map indoor spaces with planar structures through graph optimization. It performs loop-closure detection and correction to recognize previously visited places, and to correct the accumulated drift over time.
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drones-06-00352-v2.pdf
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