In the early days, lasers were used in indoor positioning of drones.<br>In recent years, scholars have begun to visually locate single-eyed, double-eyed, deep and other cameras.<br>In the visual SLAM section, Ragot and other scholars compared two common methods commonly used in visual SLAM, ORB-SLAM and RTAB-MAP.<br>RTAB-MAP is superior in drawing and trajectory estimation, and RTAB-MAP has memory management capabilities for real-time drawing in long-term or large-scale environments, but ORB-SLAM is faster and more accurate in extracting features and matching.<br>Therefore, RTAB-MAP is the main SLAM algorithm, orB-SALM is used in feature extraction and feature matching, and the task of indoor positioning is carried out in four-rotor drone.<br>The arrangement of this paper is the first chapter: introducing the research background and motivation and literature discussion. Chapter 2: The RTAB-MAP algorithm is introduced. Chapter 3: RTAB-MAP Drone Positioning Simulation. Chapter 4: System Architecture. Chapter 5: RTAB-MAP Drone Positioning Experiment. Chapter 6: Discussion, Conclusion and Future Outlook.
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