Aerial Mapping Based on Visual for Search and Rescue Robot Application
Abstract
This research paper aims to develop aerial mapping based on visual using RTAB-MAP for search and rescue robot applications. Mapping these areas is crucial for locating disaster sites that are challenging for humans to reach. Area mapping utilizes a visual RGB-D camera as input and RTAB-Map as a data processing system to represent a 3D map. RVIZ ROS is used for visualizing the map in 3D format. RGB-D images are processed using RTAB-Map to obtain several data points, including odometry, loop closure, timestamp, x, y, z coordinates, and roll, pitch, yaw data from the camera. The test results yielded an optimal area mapping, where the loop closure results in finding corresponding image data quite effectively. As the number of loop closures increases, the area mapping quality improves. In this study, there were a total of 450 loop closure data, which allowed the system to create an optimal 3D map representation. The creation of this map is expected to assist in visualizing hazardous areas to aid in search and rescue efforts during natural disasters.References
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