Aerial and Ground-Based Collaborative Mapping: An Experimental Study.

We here present studies to enable aerial and ground-based collaborative mapping in GPS-denied environments. The work utilizes a system that incorporates a laser scanner, a camera, and a low-grade IMU in a miniature package which can be carried by a light-weight aerial vehicle. We also discuss a processing pipeline that involves multi-layer optimization to solve for 6-DOF ego-motion and build maps in real-time. If a map is available, the system can localize on the map and merge maps from separate runs for collaborative mapping. Experiments are conducted in urban and vegetated areas. Further, the work enables autonomous flights in cluttered environments through building and trees and at high speeds (up to 15 m/s).