Autonomous Aerial Navigation in Confined Indoor Environments

This video presents experimental results of autonomous navigation in confined indoor environments using an aerial robot. The robot is equipped with an IMU, camera, and laser scanner with deflective mirrors. All computations are performed onboard using a 1.6GHz atom processor. The robot is able to navigate autonomously in indoor or outdoor, GPS-denied environments. A SLAM module with vision based loop closure allows the robot to map large-scale, multi-floor environments. A sparse 3D map is generated on the robot based on sensor data, enabling high-level planning and visualization.