Efficient onbard RGBD-SLAM for autonomous MAVs

  title={Efficient onbard RGBD-SLAM for autonomous MAVs},
  author={Sebastian Scherer and Andreas Zell},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
We present a computationally inexpensive RGBD-SLAM solution taylored to the application on autonomous MAVs, which enables our MAV to fly in an unknown environment and create a map of its surroundings completely autonomously, with all computations running on its onboard computer. We achieve this by implementing efficient methods for both tracking its current location with respect to a heavily processed previously seen RGBD image (keyframe) and efficient relative registration of a set of… CONTINUE READING
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