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Multi-slices navigation approach for unknown 3D environments using micro aerial vehicles
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AI
DOI：10.1002/navi.403.png)
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Abstract
En 中文
Due to the small size of Micro Aerial Vehicles, they are well suited for various indoor applications, especially search/rescue operations. Most of these operations are performed in unknown 3D environments. Real-time map construction and vehicle's localization are essential tasks. Various approaches provide solutions for 3D-map representation. However, these approaches require expensive embedded systems to afford high-processing memory/computational costs. Because of its exposure to risks, the MAV should be equipped with a low-cost navigation system. The principal aim of map construction herein is to facilitate the navigation task. Thus, constructing a massive 3D map is not required. Consequently, this paper proposes an efficient real-time 3D SLAM. The proposed method avoids the 3D-map representation of each region of the trajectory. Alternatively, it divides the environment along the trajectory into several 2D maps with a single 2D map in every region at the height of the MAV, as well as a transient region between each of the two constructed maps to enable connecting neighboring maps.
Keywords:
3D Reconstruction
Robust Navigation in GNSS‐ Denied and GNSS Challenged Environments
Indoor Navigation
Algorithms and Methods
Autonomous Navigation
Autonomous Robot and Vehicle Navigation
Journal
IF:
2
Papers:
554
Citations:
1.6K