3D Mapping and Navigation using Octrees on a Quadrotor

The project aimed to demonstrate a novel technique to create dense 3D maps of an environment using a quadrotor. Our approach was to map the environment using a planar hukoyu laser range finder mounted below the flying quadrotor and have the quadrotor yaw continuously to capture the entire environment. The map was stored using an Oct-Tree which enable compressed storage and allowed 3D navigation through the space.

[@ka9dgx]

Thank you for the very clear description of what an oct-tree is... just what I wanted to know.
BTW - amazing work with the quadrotor.

[@hexcrown2416]

Its always nice to see computer vision/ robotics implement things that are commonly used in video games. I've actually done something very similar to this to fly drones in a game though the world octree data is computed/ optimized beforehand rather than at run time goals were also not set based on visual data but rather points in 3d space. Similar idea tho, and cool usage :D

[@jaimeclune3888]

Good job on developing technology

[@michalsuchanek322]

Brilliant!

[@tungnham2482]

Amazing!!! Can you tell me Which sensors did you use in the quadrotor?

[@punitmahipal5090]

How did you guys construct the 3D Mapping with the data ??

[@santoshrajmane2398]

Great work, a qq though, why not use computer vision instead?

[@shad3ious]

Where can i get this tech? plz answer.

[@rjnuckolls]

The diagrams and visualization offer an excellent non-technical explanation of your mapping algorithm. What level of computing power is required on the vehicle?

[@imusba]

+rjnuckolls There is an embedded processor onboard, but some global estimation is done off- board on a laptop. All real time processing is done on the embedded system though

[@dramsfoxstudio6871]

How well could this stuff be used for mapping the Fukushima plants?

[@imusba]

Well it could potentially be used, but this quadrotor has some limitations like battery life which could not be suitable for long missions

[@althuelectronics5158]

wery nase your warking
sooper your brain sir

[@crolex6443]

so you were the wizards who mad the Phantom 4 magic?

[@khuongnguyen2839]

Could you please tell me the name of this research paper? Is the simulation source code available for download?

[@imusba]

+Khuong Nguyen . Part of this was a class project. For more information about maav check out maavumich.org/. Source code is probably not available for download. But the code was build using april robotics toolkit april.eecs.umich.edu/wiki/index.php/Main_Page

[@nobody2937]

Don't you have a Github link for the code?

[@InterdimensionalWiz]

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