Autonomous Visual Mapping and Exploration With a Micro Aerial Vehicle

  title={Autonomous Visual Mapping and Exploration With a Micro Aerial Vehicle},
  author={Lionel Heng and Dominik Honegger and Gim Hee Lee and Lorenz Meier and Petri Tanskanen and Friedrich Fraundorfer and Marc Pollefeys},
  journal={J. Field Robotics},
Cameras are a natural fit for micro aerial vehicles (MAVs) due to their low weight, low power consumption, and two-dimensional field of view. However, computationally-intensive algorithms are required to infer the 3D structure of the environment from 2D image data. This requirement is made more difficult with the MAV’s limited payload which only allows for one CPU board. Hence, we have to design efficient algorithms for state estimation, mapping, planning, and exploration. We implement a set of… CONTINUE READING
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