Hexakopter - 3D Mapping Demo

A short video showing my progress on 3D SLAM using a heavily modified Hexakopter from MikroKopter as part of my PhD.

Website: http://www.mobilerobotics.warwick.ac.uk

The first part of the video shows the UAV flying around scanning the room with an on-board laser scanner, the blue cubes shows where it thinks it is based on the sensor data.
The second part of the video shows what can be done with the data afterwards (not yet automated).

Demo of autonomous flight: http://www.youtube.com/watch?v=w5tQ7i...

3D modeling done in Blender and camera tracking using Voodoo.

Took about one minute to fly, two minutes to film, five minutes to process the data and two and a half weeks to do the CGI!

• Category

  Science & Technology

[GoProlet]

Amazing... Could you please help me a little with SLAM? How many lasers do you use? Just one? and how does this real-time-mapping work, what kind of additional soft- or hardware do you need beside the hokuyo?

[Stefanw3]

Sure, although I'll have to be vague about some of the details as they haven't been published yet. I am just using the one laser, an accurate gyroscope/orientation sensor is also important (I'm using an XSens MTI) to correct for pitch/roll.

Other than that you will need a computer to process it all, the more powerful the better, I'm using a Kontron p-ITX 1.6Ghz Intel Atom which is barely enough.

As for software, written it all myself based on Iterative Closest Point SLAM.

Sent a PM...

[MatrixParadise]

Very Interesting

[roidroid]

The AR type presentation (overlaying the 3D onto the video) and CGI is very well done. You have a wonderful sense of aesthetics Stefan, it communicates the concepts very well, totally worth the 2.5 weeks.

[atmgta]

this is like wow..hope ur project comes good

[Stefanw3]

I am using a Hokuyo UTM-30LX.