Multiple UAVs Collaborative Dense Map Construction and Map Fusion

Chenqi Gao, Yifei Lei, Jinwen Hu, Zhao Xu, Junwei Han, Yanyu Su, Kexin Pang

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

To overcome the limitations of single unmanned aerial vehicle (UAV) systems, research has increasingly focused on the coordination of multiple UAV platforms. These platforms are often deployed for tasks requiring advanced environmental perception, where the ability to autonomously generate and fuse dense maps is essential. However, existing algorithms for visual mapping with multiple UAVs exhibit significant shortcomings, including issues with map density, fusion accuracy, and comprehensive system testing. This article addresses these challenges by introducing techniques for dense mapping and map fusion in multiple UAVs systems. We propose a visual dense point cloud mapping algorithm that integrates generalized nearest neighbor iteration with voxel filtering. This method not only reduces redundant map points but also enhances mapping accuracy by mitigating sensor errors and drift that often generate invalid map points and overlaps. Additionally, we introduce a dense map fusion algorithm tailored for overlapping regions. This algorithm establishes precise criteria for map fusion and efficiently achieves dense map fusion by identifying overlapping areas and accurately matching point pairs. The efficacy of the proposed algorithms is demonstrated through experimental validation.

源语言英语
主期刊名Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 12
编辑Liang Yan, Haibin Duan, Yimin Deng
出版商Springer Science and Business Media Deutschland GmbH
620-630
页数11
ISBN(印刷版)9789819622436
DOI
出版状态已出版 - 2025
活动International Conference on Guidance, Navigation and Control, ICGNC 2024 - Changsha, 中国
期限: 9 8月 202411 8月 2024

出版系列

姓名Lecture Notes in Electrical Engineering
1348 LNEE
ISSN(印刷版)1876-1100
ISSN(电子版)1876-1119

会议

会议International Conference on Guidance, Navigation and Control, ICGNC 2024
国家/地区中国
Changsha
时期9/08/2411/08/24

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