An Autonomous Quadrotor For Indoor Exploration With Laser Scanner And Depth Camera

In this paper, we present a fully autonomous quadrotor for indoor exploration. The quadrotor is fully customized and capable of localization, mapping, planning and flying in unknown indoor environment with all real-time computations performed onboard. Two laser scanners are equipped to determine the 3D position of the quadrotor. The position measurements are further fused with Inertial Measurement Unit (IMU) to get a robust 6DOF state estimation. A depth camera is deployed to build 3D maps for the environment. Also, vision-based algorithms are designed to detect visual targets and perform precision landing. The whole system is verified in Singapore Amazing Flight Machine Competition (SAFMC). As Unmanned Systems Research Group from the National University of Singapore, we rank top in the fully autonomous category.