3D Occupancy Grid Mapping using a Aeryon Scout Quadrotor and Octomaps

In this video, an Aeryon Scout, mounted with a Hokuyo URG lidar, builds a 3D occupancy grid map of our lab environment using the Octomap library (http://octomap.sourceforge.net/ ). Vehicle localization in x, y, z, and yaw are performed though an Optitrack system, while roll and pitch are obtained through on-board IMU estimates. The generated maps look promising, and we are looking forward to incorporating them with other algorithms.

Category:

Science & Technology

Tags:

• Quadrotor
• mapping
• uav
• control
• scout
• kinect
• aeronautics

[jetapiero]

Are you considering probabilities for each grid element? and if your answers is affirmative... How do you assign them?