3D Mapping and Navigation using Octrees on a Quadrotor

The project aimed to demonstrate a novel technique to create dense 3D maps of an environment using a quadrotor. Our approach was to map the environment using a planar hukoyu laser range finder mounted below the flying quadrotor and have the quadrotor yaw continuously to capture the entire environment. The map was stored using an Oct-Tree which enable compressed storage and allowed 3D navigation through the space.