arXiv 1808.019402018-07-31cs.ROeess.IV

Accurate indoor mapping using an autonomous unmanned aerial vehicle (UAV)

University of Melbourne（墨尔本大学）；Metropolitan Fire Brigade（大都会消防局）

Lachlan Dowling, Tomas Poblete, Isaac Hook, Hao Tang, Ying Tan, Will Glenn, Ranjith R Unnithan

备注：: This manuscript will be sent to IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

英文摘要：

An autonomous indoor aerial vehicle requires reliable simul- taneous localization and mapping (SLAM), accurate flight control, and robust path planning for navigation. This paper presents a system level combination of these existing technologies for 2D navigation. An Unmanned aerial vehicle (UAV) called URSA (Unmanned Recon and Safety Aircraft) that can autonomously flight and mapping indoors environments with an accuracy of 2 cm was developed. Performance in indoor environments was assessed in terms of mapping and navigation precision.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。