3D Mapping and Motion Planning on a Quad-copter

This is a video overview of the work I did for my undergraduate project at IIT Kanpur, titled "3D Mapping and Motion Planning on a Quad-copter". The work was done under the guidance of Prof. Mangal Kothari and along with my classmate, Mr. Gajendra Nagar.

A stereo camera is used to generate depth-maps, followed by a point cloud. This data is used to localize the position of the camera using ORB-SLAM2. Then, the location and point-cloud data are combined using OctoMap to generate the 3D Map.

Links for packages used:
github.com/raulmur/ORB_SLAM2
github.com/OctoMap/octomap_mapping