Published November 14, 2022 | Version v1
Journal article Open

Microdrone-Based Indoor Mapping with Graph SLAM

  • 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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