Indoor Three-Dimensional Environment Detection for Aerial Robots
Indoor autonomous flight of aerial robots is a hot research field in recent years. This paper describes the system architecture and core algorithms for a quadrotor aerial robot, which uses linear structured light to detect unstructured and unknown indoor environments. A model of linear structured light measurement system is built. The measuring principle, the parameters calibration method and the coordinate transformation algorithms are presented. The experiments are performed and the three-dimensional point-cloud map of the experimental environment is determined. It is found that the errors of the experiments for this system are acceptable for environment detection.
KeywordsWorld Coordinate System Laser Plane Camera Coordinate System Aerial Robot Airborne System
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