UAV-assisted Visual SLAM Generating Reconstructed 3D Scene Graphs in GPS-denied Environments

This work aims to showcase map reconstruction of indoor environments and generate 3D #scene_graphs for a high-level representation using a camera mounted on a #drone. Accordingly, an aerial #robot equipped with a companion computer and an RGB-D camera was employed to be integrated with a Visual Simultaneous Localization and Mapping (#VSLAM) framework proposed by the authors. To enhance #situational_awareness while reconstructing maps, various structural elements, i.e., doors and walls, were labeled with printed fiducial markers, and a dictionary of their topological relations was fed to the system.

🔗 Links:
Link to the pre-print: https://arxiv.org/abs/2402.07537
Link to the underlying framework: https://arxiv.org/abs/2309.10461
Previous framework presented in #IROS2023:    • Marker Based Visual SLAM leveraging H...