Due to the small size of Micro Aerial Vehicles, they are well suited for various indoor applications, especially search/rescue operations. Most of these operations are performed in unknown 3D environments. Real‐time map construction and vehicle's localization are essential tasks. Various approaches provide solutions for 3D‐map representation. However, these approaches require expensive embedded systems to afford high‐processing memory/computational costs. Because of its exposure to risks, the MAV should be equipped with a low‐cost navigation system. The principal aim of map construction herein is to facilitate the navigation task. Thus, constructing a massive 3D map is not required. Consequently, this paper proposes an efficient real‐time 3D SLAM. The proposed method avoids the 3D‐map representation of each region of the trajectory. Alternatively, it divides the environment along the trajectory into several 2D maps with a single 2D map in every region at the height of the MAV, as well as a transient region between each of the two constructed maps to enable connecting neighboring maps.

中文翻译：

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使用微型飞行器的未知3D环境的多层导航方法

由于微型飞行器的体积小，它们非常适合于各种室内应用，尤其是搜索/救援操作。这些操作大多数在未知的3D环境中执行。实时地图构建和车辆定位是必不可少的任务。各种方法为3D地图表示提供了解决方案。但是，这些方法需要昂贵的嵌入式系统才能提供高处理内存/计算成本。由于存在风险，因此MAV应该配备低成本的导航系统。本文中地图构建的主要目的是简化导航任务。因此，不需要构建庞大的3D地图。因此，本文提出了一种高效的实时3D SLAM。所提出的方法避免了轨迹的每个区域的3D地图表示。