Research on Mine Rescue UAV Mapping Based on Visual SLAM
In view of the occurrence of mine accidents,in order to make up for the lack of vision and efficiently carry out post-disaster survey and search and rescue tasks,the open source ORB-SLAM3 algorithm and depth camera are used,combined with the use of UAV development platform,to study the underground UAV positioning and mine environ-ment mapping.The simulation experiments are carried out under the conditions of light and dark respectively,and the flight trajectory of the UAV is obtained,which provided the accurate motion trajectory and pose map for the actual mine rescue process.
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