Indoor Mapping Drone with SLAM

SLAM Basics

Simultaneous Localization and Mapping - track position while building map.

Hardware

4x ultrasonic sensors, improved IMU, Raspberry Pi Zero for processing.

Algorithm

FastSLAM2.0, particle filter for localization, occupancy grid for map.

Visualization

Real-time 3D map in web browser, export to OBJ/STL formats.

Applications

Room measurement, furniture layout, emergency response, industrial inspection.