Visual SLAM with a RGB-D Camera on a Quadrotor UAV Using on-Board Processing

  • Wilbert G. Aguilar
  • Guillermo A. Rodríguez
  • Leandro Álvarez
  • Sebastián Sandoval
  • Fernando Quisaguano
  • Alex Limaico
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10306)


In this article, we present a high accuracy system for real-time localization and mapping using a RGB-D camera. With the use the RGB-D sensor Microsoft Kinect and the small and powerful computer Intel Stick Core M3 Processor, our system can run the computation and sensing required for SLAM on-board the UAV, removing the dependence on unreliable wireless communication. We use visual odometry, loop closure and graph optimization to achieve this purpose. Our approach is able to perform accurate and efficient on-board SLAM by analyzing data and maps generated on several tests of the system.


SLAM RGB-D Loop closure detection Graph optimization Visual odometry RANSAC UAVs 



This work is part of the projects 2016-PIC-024 and 2016-PIC-025, from the Universidad de las Fuerzas Armadas ESPE, directed by Dr. Wilbert G. Aguilar.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Wilbert G. Aguilar
    • 1
    • 3
    • 4
  • Guillermo A. Rodríguez
    • 2
    • 3
  • Leandro Álvarez
    • 2
    • 3
  • Sebastián Sandoval
    • 2
    • 3
  • Fernando Quisaguano
    • 2
    • 3
  • Alex Limaico
    • 2
    • 3
  1. 1.Dep. Seguridad y DefensaUniversidad de las Fuerzas Armadas ESPESangolquíEcuador
  2. 2.Dep. Eléctrica y ElectrónicaUniversidad de las Fuerzas Armadas ESPESangolquíEcuador
  3. 3.CICTE Research CenterUniversidad de las Fuerzas Armadas ESPESangolquíEcuador
  4. 4.GREC Research GroupUniversitat Politècnica de CatalunyaBarcelonaSpain

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