A method of simultaneous location and mapping based on RGB-D cameras

Autonomous UAV must rely on the navigation system to fly in the indoor environment. However, the traditional navigation system such as GPS cannot be used in the indoor environment. A method of Simultaneous Location and Mapping (SLAM) based on RGB-D cameras is used to solve this matter. We adopt the RGB-D SLAM algorithm to locate the camera and build the 3D map of the environment in this paper. The framework and process of the algorithm are described in detail. The experiments show that the RGB-D SLAM algorithm can achieve good results.