激光雷达
计算机视觉
点云
人工智能
计算机科学
管道(软件)
纹理映射
三维重建
同时定位和映射
遥感
移动机器人
地理
机器人
程序设计语言
作者
Pinjie Zhao,Rui Li,Yahui Shi,Liang He
标识
DOI:10.23919/ccc50068.2020.9189271
摘要
In this paper, we present our design for a system on quadrotor, which equipped with a 3D LiDAR and camera, to explore and reconstruct unknown environments. The pipeline of the system is composed of LiDAR simultaneous localization and mapping (SLAM) and real-time update dense map generation submodule, only driven by 3D LiDAR point clouds and image flow. By processing LiDAR data, we can obtain real-time pose of the quadrotor and rough surrounding geometric information. At the same time, we use camera to texture the LiDAR points for 3D reconstruction. All data processing is completed on the onboard computer and the attitude control of quadrotor will be handled by a professional flight controller. The experimental results demonstrate the system’s ability to reconstruct environment in unknown space.
科研通智能强力驱动
Strongly Powered by AbleSci AI