Study of Acquiring Geometrical Relationship between the Flying Robot and Surrounding Environments Using SLAM and Laser Projection

Abstract

To acquire geometrical relationship between the flying robot and its surroundings, LSD-SLAM（Large Scale Direct Monocular-Simultaneous Localization and Mapping）is frequently applied to the image acquired by the camera attached to the flying robot so that the map for the surroundings is obtained, but its problem is that 3D structure of object surfaces that do not have enough texture cannot be reconstructed. This paper studies a method that aims at reconstructing 3D structure of the surroundings by projecting a grid pattern from the laser projector attached to the flying robot. Specifically, if 4 x 4 grid pattern is projected, the projected pattern is geometrically deformed according to Homography transformation if the projected object surface is a plane. If the pattern is projected to discontinuity between two planes, the intensities of the projected grids’ positions predicted by the Homography transformation are analyzed so that whether the pattern is projected over the discontinuity is judged. Promising experimental results are obtained.