Abstract
Considering that GPS based quadrotor can not fully realize positioning and navigation in an unknown environment and further environmental exploration. In this paper, we present our design for a system on a quadrotor, which is equipped with a 3D Lidar and camera, to explore and reconstruct the unknown scenes in real-time. Firstly, real-time positioning and sparse mapping are established to obtain quadrotor position information from Lidar points. Among them, for the successfully established sparse map, local map optimization is performed to complete the quadrotor pose estimation. Besides, through the fusion of Lidar and camera, the coloured point cloud information is obtained. Further, 3D surface reconstruction and updation are obtained based on TSDF by using real-time lidar odometer and colour point cloud information. Finally, the experiments verify that the platform can be used for SLAM and 3D reconstruction of unknown indoor and outdoor environments with better performance.
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