An MAV Localization and Mapping System Based on Dual Realsense Cameras
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چکیده
Online localization and mapping in unknown environment is essential for Micro Aerial Vehicles (MAVs). Both accuracy and robustness are required in the realtime applications. In this paper, we present a dual camera system to estimate the pose of an MAV and generate an obstacle map for navigation. The recently released light-weight Intel Realsense depth cameras are utilized to build the system, one is forward-facing and the other is downwardfacing. The downward-facing camera provides a high-frequency (60hz) velocity measurement while the forward-facing camera computes a low-frequency (10hz) position measurement. Experiments demonstrate the good performance of our proposed system.
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تاریخ انتشار 2016