SLAM Implementation For Mobile Robots Using Physical Sensors

摘要

An algorithm for simultaneous localization and mapping of the surrounding space (SLAM) using the Microsoft Kinect multifunctional device and the Eken H9 camera has been implemented and investigated. A comparative analysis of the use of Microsoft Kinect and lidars. Describes the process of setting up, calibrating and obtaining a 3D model of the surrounding space using Kinect. Implemented monocular SLAM for use on board an aircraft. The main parameters and problems of the resulting system are investigated. The results obtained are applied on an aircraft of the type hexacopter.