Development of a Quadrocoptor Robot with Vision and Ultrasonic Sensors for Distance Sensing and Mapping

The objective of this paper is to build a map using a quadrocopter. To explore the surroundings and build a map, ultrasonic sensors and a camera sensor are used. As ultrasonic and camera sensors get information separately, they have to be synchronized. Through this synchronization, the location of the quadrocopter can be recognized. At that point, the four horizontal distances can be calculated by rotating the quadrocopter. The map is then built through the reconstruction of information using the information from a camera and ultrasonic sensors. The effectiveness of this scheme is demonstrated in a real environment.