Electronic Science and Technology ›› 2021, Vol. 34 ›› Issue (1): 65-70.doi: 10.16180/j.cnki.issn1007-7820.2021.01.012

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3D Map Construction of Micro UAV Based on Depth Camera

ZHANG Zhenwei,ZHANG Wei,LONG Lin,YAN Chenhang   

  1. School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China
  • Received:2019-10-24 Online:2021-01-15 Published:2021-01-22
  • Supported by:
    National Natural Science Foundation of China(51505273)


In order to solve the problem of obstacle avoidance and path planning when the small drone is insufficient in indoor light. In this paper, an indoor map construction system of UAV based on depth camera is designed and implemented. The pixhawk control board and low-cost embedded structure optical depth camera hardware platform are used to provide indoor environmental information for obstacle avoidance and path planning. Anti-sensor model algorithm is adopted, the information provided by the depth camera, pose sensor to filter are utilized to select and process effective obstacle information. A 3D map of the interior is established, and the depth camera acquires the description information of the obstacle point cloud by means of laser scanning. The position sensor is used to acquire the height information of the drone. The experimental results show the system could quickly acquire indoor maps, and the accuracy of the obstacles is relatively high, and it is not affected by light. The proposed system can be widely used for indoor navigation of drones, and realizes an indoor drone map construction system that does not rely on external light sources.

Key words: UAV, anti-sensor model, real-time, depth camera calibration, light source, structured light camera

CLC Number: 

  • TP242