30th Congress of the International Council of the Aeronautical Sciences

05.2 - Flight Dynamics and Control (UAV related)

DEPTH IMAGE BASED DIRECT SLAM FOR SMALL UAVS

S.Y. Park¹, D.H. Shim¹; ¹KAIST, South Korea

The algorithm for depth image based on direct SLAM for small UAVs which have less computational power is proposed. Flight of the small drone in the GPS-disabled area is still very limited due to the low computational power. The real-time guarantee is achieved by using key frame based direct (feature-less) semi-dense method. The system is verified by flight test with an actual drone system.


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