Abstract
Simultaneous localization and mapping (SLAM) is one of the key components of the navigation system of unmanned aerial vehicles (UAVs). In this paper, a novel system that enables a UAV to navigation in a GPS-denied environment with an RGB-D (Red, Green, Blue, and Depth) camera and Inertial Measurement Unit (IMU) is presented. Such a system is realized via a host computer on a UAV, in which the IMU information read from the flight controller and the image information read from the RGB-D camera are fused using extended Kalman filter (EKF). Experiments are designed to test the feasibility of the proposed navigation scheme. Accurate assessment of our idea shows a good response when rapidly moving and rotating the UAV.
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