Flydar: A Passive Scanning Flying Lidar Sensing System for SLAM using a Single Laser

This paper presents the Flying Lidar (Flydar) aerial robot for simultaneous localization and mapping (SLAM). The Flydar integrates a single laser capitalizes on rotating dynamics of nature-inspired omnidirectional scanning. 2.5D SLAM approach using does not assume that Flydar’s hovering plane, thus scan, is parallel to ground which key assumption in our previous work. A quaternion-based filter performs active correction scan due its transient attitude. dual-accelerometer was incorporated estimate rate during high angular rates flight beyond gyroscope dynamic range. proposed attitude output experimentally evaluated statically bench-top setup dynamically flight, with an rms inclination error up 1.1° 0.38° respectively. attitude-corrected lidar used pose SLAM. validated demonstrated be superior pure 2D loop closure, position drift, error. Significantly, reports low Euclidean 0.083 m, 32.0% reduction compared work, uses