Multilayer Mapping Kit for Autonomous UAV Navigation
نویسندگان
چکیده
Mapping, as the back-end of perception and front-end path planning in modern UAV navigation system, draws our interest. Considering requirements features current embedded computation platforms, we designed implemented a novel multilayer mapping framework. In this framework, divided map into three layers: awareness, local, global. The awareness is constructed cylindrical coordinate, enabling fast raycasting. local probability-based volumetric map. global adopts dynamic memory management, allocating for active area, recycling from inactive area. We framework parallel threads: thread, local-global visualization thread. Finally, evaluated kit both simulation environment real-world scenario with vision-based sensors. supports different kinds outputs or planners. implementation open-source research community.
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2021
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2021.3055066