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쿼드콥터 드론의 실내 근접 비행을 위한 3D 라이다 및 VIO 센서의 적용
장종태 제어로봇시스템학회 2021 제어로봇시스템학회 국내학술대회 논문집 Vol.2021 No.6
For a drone to flight closely to objects indoor it needs a stable pose estimation and the awareness of near objects. To achieve the need, small and light conventional products of 3D lidar and VIO (Visual Inertial Odometry) sensor were chosen for a quadcopter drone in the research. The major feature of the 3D lidar (L515) is that its scanning is directional not revolving. And the VIO sensor (T265) outputs its position and attitude in 3D with its two fisheyes stereo camera and IMU. For flight control, Pixhawk and PX4 were used. And for data processing, Jetson Nano with ROS in Ubuntu OS was used for the drone. The open source SLAM software MLMapping outputs 3D map with constrained rate and resolution of the point clouds of the lidar and the pose of the VIO. The paper describes the composition of the system and the current result and situation of the research.
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