Simulation of simultaneous localization and mapping using hexacopter and RGBD camera

摘要

In this paper, we present simulation of SLAM (Simultaneous Localization and Mapping) mission with hexacopter UAV (Unmanned Aerial Vehicle). This simulation is done by using Gazebo simulator based on ROS (Robot Operating System). We have installed Intel Realsense R200 RGBD (Red, Green, Blue and Depth) camera on the hexacopter model as visual sensor for generating SLAM. From the camera, we get RGB (Red, Green and Blue) image data and depth data which will be computed to get key point features. Key point features in different scenes is matched to calculate the motion of the camera. This will lead to find the odometry of hexacopter and the construction of 3D map surrounding the robot.